This is a ROS driver for serial port that is capable of reading, writing, and parsing messages from a USB serial port. I have implemented a message fragment merging function. With this driver, it is easy to connect various conversion modules, such as the 232_USB or CAN_USB modules.
sudo apt install ros-noetic-serial
ls /dev/ttyUSB*
sudo chmod 777 /dev/ttyUSB0
change the config/systemConfig.yaml
roslaunch com_pkg COM.launch