Along the same lines, the hokuyo_node, and the microstrain_3dmgx_imu
node contain serial code that has proven to be fairly robust for us.
There may be code snippets in there that are revelant for you,
particularly pertaining to problems like:
- Locking the port.
- Timeouts.
- Not making the serial port become your controlling TTY (leads to
SIGHUP when you get unplugged).

On Wed, Sep 15, 2010 at 9:40 AM, Bill Morris <morris@ee.ccny.cuny.edu> wrote:
> On Wed, 2010-09-15 at 09:45 -0600, Titus Appel wrote:
>> Any help would be appreciated.
>
> It's a little off topic but Writing serial port code is often painful so
> I'll throw this out there.
>
> http://www.easysw.com/~mike/serial/serial.html
>
>
> It was helpful for writing the serial code for our AscTec Quadrotor
> Driver. The following may be a useful example in that is has working
> serial port code for a ROS driver. It might not be useful because it
> needs to be fairly complicated to be robust to low quality zigbee
> wireless links.
>
> http://www.ros.org/wiki/asctec_autopilot
>
>
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