From 694268c3b42434eb9a9102eaaa17f57bc444a310 Mon Sep 17 00:00:00 2001
From: Kartik Mohta <kartikmohta@gmail.com>
Date: Thu, 8 Feb 2018 15:06:14 -0500
Subject: [PATCH] Set serial port to raw mode, needed for Boost versions <
 1.66.0

---
 ublox_gps/src/gps.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/ublox_gps/src/gps.cpp b/ublox_gps/src/gps.cpp
index 5eda8e61..344e0903 100644
--- a/ublox_gps/src/gps.cpp
+++ b/ublox_gps/src/gps.cpp
@@ -28,6 +28,7 @@
 //==============================================================================
 
 #include <ublox_gps/gps.h>
+#include <boost/version.hpp>
 
 namespace ublox_gps {
 
@@ -116,6 +117,18 @@ void Gps::initializeSerial(std::string port, unsigned int baudrate,
 
   ROS_INFO("U-Blox: Opened serial port %s", port.c_str());
 
+  if(BOOST_VERSION < 106600)
+  {
+    // NOTE(Kartik): Set serial port to "raw" mode. This is done in Boost but
+    // until v1.66.0 there was a bug which didn't enable the relevant code,
+    // fixed by commit: https://github.com/boostorg/asio/commit/619cea4356
+    int fd = serial->native_handle();
+    termios tio;
+    tcgetattr(fd, &tio);
+    cfmakeraw(&tio);
+    tcsetattr(fd, TCSANOW, &tio);
+  }
+
   // Set the I/O worker
   if (worker_) return;
   setWorker(boost::shared_ptr<Worker>(