[Solved] OpenCR Serial communication

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Hello!

I would like to use a Cortex-M board to communicate with the OpenCR. However my board does not have any USB connector. So I would like to use some pins and configure them as an UART. As far as I understood the communication is serial so it should be possible to achieve that. But I could not make it work yet. My first question is: is it achievable? Here is what I tried:

In the turtlebot3_core code for the OpenCR board:

ros::NodeHandle nh;

is initialized as (in OpenCR/1.0.13/libraries/turtlebot3_ros_lib/ros.h)

typedef NodeHandle_<ArduinoHardware, 25, 25, 1024, 1024> NodeHandle;

And ArduinoHardware is defined (in OpenCR/1.0.13/libraries/turtlebot3_ros_lib/ArduinoHardware.h)

#include <HardwareSerial.h>
#define SERIAL_CLASS USBSerial // USBSerial / UARTClass


ArduinoHardware()
{
      iostream = &Serial;
      //iostream = &Serial1;
      baud_ = 57600;
}

I tried to change the SERIAL_CLASS define to UARTClass in order to use one of the UARTClass defined in OpenCR/1.0.13/libraries/variants/variants.h:

UARTClass Serial1(DRV_UART_NUM_1, DRV_UART_IRQ_MODE);
UARTClass Serial4(DRV_UART_NUM_4, DRV_UART_IRQ_MODE);

I was also wondering where Serial1 is located on the OpenCR. Thanks :D

EDIT: It was a problem with my UART cables. Everything is working by following those steps.