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Connect two computers with RS-232 cable.

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I am using Ubuntu 16.04 and ROS Kinetic. I want to connect a computer running ROS to another (without ROS) with a USB to serial connector (RS-232 cable), in order to send data (ex. send 3 decimals from a PC using ROS, and be able to see them in another's PC terminal). My research so far led me to install rosserial package, but I couldn't find any tutorial or sample code to see how exactly is going to work. I am new to ROS. Any suggestions or possible solutions would be appreciated.

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