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I think this is caused by an error in the formatting format.

ROS_DEBUG("value: 0x%02X\n", c);

Try it with the X in lower case instead of upper case.

ROS_DEBUG("value: 0x%02x\n", c);

I think this is caused by an error in the formatting format.

ROS_DEBUG("value: 0x%02X\n", c);

Try it with the X in lower case instead of upper case.

ROS_DEBUG("value: 0x%02x\n", c);

Update

I found another one.

 read(kfd, &c, 1)

There is no semicolon.

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