template<class Uart>
class ModmHardware< Uart >

Interface between rosserial and actual hardware. Must provide: void init() To initialize. Called from the NodeHandle::initNode.

int read() To read a single character from the bytestream. If no character to read, then return -1.

void write(uint8_t* data, int length) To write multiple characters to the bytestream.

unsigend long time() Get time in milliseconds since start. Monotonic increasing clock.