注：很长时间不玩ros了，很多东西都忘记了，现在慢慢学起来。 主要过程及代码参考创客智造网站，ROS小车底盘A系列教程。 问题1 ：
Connecting to Arduino on port /dev/ttyACM0 ... Serial Exception: (<class 'serial.serialutil.SerialException'>, SerialException(2, "could not open port /dev/ttyACM0: [Errno 2] No such file or directory: '/dev/ttyACM0'"), <traceback object at 0x74ce3d50>) Traceback follows: Traceback (most recent call last): File "/home/zyh/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/arduino_driver.py", line 44, in connect self.port = Serial(port=self.port, baudrate=self.baudrate, timeout=self.timeout, writeTimeout=self.writeTimeout) File "/usr/lib/python2.7/dist-packages/serial/serialutil.py", line 180, in __init__ self.open() File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", line 294, in open raise SerialException(msg.errno, "could not open port %s: %s" % (self._port, msg)) SerialException: [Errno 2] could not open port /dev/ttyACM0: [Errno 2] No such file or directory: '/dev/ttyACM0' Cannot connect to Arduino!1.根据教程给出添加的yaml文件，里面给出的波特率为115200，在Arduino代码里面为57600。 2.dev/ttyACM0改为了ttyUSB0，针对自己的树莓派3b，国产mega2560，串口芯片CH340。
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