ros底盘控制器和雷达的串口号别名问题（UDEV规则写串口别名）

其他 2019-06-12 21:43:55 阅读次数: 0

5月18日 第一次修改

注：本次修改之后对于原来的问题（雷达和控制器插口的先后顺序问题）是解决了，但是对于两个usb口我发现是锁定下来的（就是这个usB口只能插雷达，那个usb口只能插控制器），希望有朋友可以解决这个问题可以评论告诉我一下。

---------------------------------------------------------------------------------------------------------------------------------------------------------------------

参考：https://blog.csdn.net/zong596568821xp/article/details/78579734

在第一次启动时 启动minimal.launch文件之后结果如下

s@s-Aspire-E5-572G:/opt/ros/kinetic/share/turtlebot_bringup/launch$ roslaunch turtlebot_bringup minimal.launch 
... logging to /home/s/.ros/log/046d0be2-78a6-11e9-a830-3052cb515e69/roslaunch-s-Aspire-E5-572G-22512.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://s-Aspire-E5-572G:33611/

SUMMARY
========

PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /opt/ros/kinetic/...
 * /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
 * /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
 * /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
 * /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
 * /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
 * /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
 * /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
 * /diagnostic_aggregator/analyzers/power/path: Power System
 * /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/power/timeout: 5.0
 * /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
 * /diagnostic_aggregator/analyzers/sensors/path: Sensors
 * /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
 * /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /mobile_base/base_frame: base_footprint
 * /mobile_base/battery_capacity: 16.5
 * /mobile_base/battery_dangerous: 13.2
 * /mobile_base/battery_low: 14.0
 * /mobile_base/cmd_vel_timeout: 0.6
 * /mobile_base/device_port: /dev/kobuki
 * /mobile_base/odom_frame: odom
 * /mobile_base/publish_tf: True
 * /mobile_base/use_imu_heading: True
 * /mobile_base/wheel_left_joint_name: wheel_left_joint
 * /mobile_base/wheel_right_joint_name: wheel_right_joint
 * /robot/name: turtlebot
 * /robot/type: turtlebot
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 5.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /turtlebot_laptop_battery/acpi_path: /sys/class/power_...
 * /use_sim_time: False

NODES
  /
    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    mobile_base (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)

auto-starting new master
process[master]: started with pid [22527]
ROS_MASTER_URI=http://s-Aspire-E5-572G:11311

setting /run_id to 046d0be2-78a6-11e9-a830-3052cb515e69
process[rosout-1]: started with pid [22540]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [22558]
process[diagnostic_aggregator-3]: started with pid [22559]
process[mobile_base_nodelet_manager-4]: started with pid [22560]
process[mobile_base-5]: started with pid [22570]
process[bumper2pointcloud-6]: started with pid [22592]
process[cmd_vel_mux-7]: started with pid [22619]
process[turtlebot_laptop_battery-8]: started with pid [22632]
[WARN] [1558099006.426206]: Battery : unable to check laptop battery info [/sys/class/power_supply/BAT0/charge_full_design || /sys/class/power_supply/BAT0/energy_full_design does not exist]
[turtlebot_laptop_battery-8] process has finished cleanly
log file: /home/s/.ros/log/046d0be2-78a6-11e9-a830-3052cb515e69/turtlebot_laptop_battery-8*.log

底盘控制器是仿制的turtlebot2的控制器，按理说应该有一秒的蜂鸣器，然而并没有启动。

后来在～/.bashrc文件或者/opt/ros/kinect/ 中的setup.bash文件中都可以修改

149 #此行提供控制器的端口号
150 #export TURTLEBOT_SERIAL_PORT=/dev/ttyUSB0
151 #尝试修改不加export

但是这种方法在插入多个usb时就会失效，会因为插入的先后顺序而混乱，故使用udev方法指定一个映射

如下：

s@s-Aspire-E5-572G:/etc/udev/rules.d$ ls -l /dev |grep ttyUSB
lrwxrwxrwx  1 root root           7 5月  17 21:16 kobuki2 -> ttyUSB0
crwxrwxrwx  1 root dialout 188,   0 5月  17 21:16 ttyUSB0
crw-rw-rw-  1 root dialout 188,   1 5月  17 21:16 ttyUSB1
lrwxrwxrwx  1 root root           7 5月  17 21:16 ydlidar -> ttyUSB1

此时解决。

过程，前面的见参考博客，对于多个映射，要找他们的不同点，然后分别写入每一个映射，如下usb0的信息：


s@s-Aspire-E5-572G:/etc/udev/rules.d$ udevadm info --attribute-walk --path=/sys/bus/usb-serial/devices/ttyUSB0

Udevadm info starts with the device specified by the devpath and then
walks up the chain of parent devices. It prints for every device
found, all possible attributes in the udev rules key format.
A rule to match, can be composed by the attributes of the device
and the attributes from one single parent device.

  looking at device '/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/ttyUSB0':
    KERNEL=="ttyUSB0"
    SUBSYSTEM=="usb-serial"
    DRIVER=="cp210x"
    ATTR{port_number}=="0"

  looking at parent device '/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0':
    KERNELS=="2-2:1.0"
    SUBSYSTEMS=="usb"
    DRIVERS=="cp210x"
    ATTRS{authorized}=="1"
    ATTRS{bAlternateSetting}==" 0"
    ATTRS{bInterfaceClass}=="ff"
    ATTRS{bInterfaceNumber}=="00"
    ATTRS{bInterfaceProtocol}=="00"
    ATTRS{bInterfaceSubClass}=="00"
    ATTRS{bNumEndpoints}=="02"
    ATTRS{interface}=="CP2102 USB to UART Bridge Controller"
    ATTRS{supports_autosuspend}=="1"

  looking at parent device '/devices/pci0000:00/0000:00:14.0/usb2/2-2':
    KERNELS=="2-2"
    SUBSYSTEMS=="usb"
    DRIVERS=="usb"
    ATTRS{authorized}=="1"
    ATTRS{avoid_reset_quirk}=="0"
    ATTRS{bConfigurationValue}=="1"
    ATTRS{bDeviceClass}=="00"
    ATTRS{bDeviceProtocol}=="00"
    ATTRS{bDeviceSubClass}=="00"
    ATTRS{bMaxPacketSize0}=="64"
    ATTRS{bMaxPower}=="100mA"
    ATTRS{bNumConfigurations}=="1"
    ATTRS{bNumInterfaces}==" 1"
    ATTRS{bcdDevice}=="0100"
    ATTRS{bmAttributes}=="80"
    ATTRS{busnum}=="2"
    ATTRS{configuration}==""
    ATTRS{devnum}=="31"
    ATTRS{devpath}=="2"
    ATTRS{idProduct}=="ea60"
    ATTRS{idVendor}=="10c4"
    ATTRS{ltm_capable}=="no"
    ATTRS{manufacturer}=="Silicon Labs"
    ATTRS{maxchild}=="0"
    ATTRS{product}=="CP2102 USB to UART Bridge Controller"
    ATTRS{quirks}=="0x0"
    ATTRS{removable}=="removable"
    ATTRS{serial}=="0001"
    ATTRS{speed}=="12"
    ATTRS{urbnum}=="17"
    ATTRS{version}==" 1.10"

  looking at parent device '/devices/pci0000:00/0000:00:14.0/usb2':
    KERNELS=="usb2"
    SUBSYSTEMS=="usb"
    DRIVERS=="usb"
    ATTRS{authorized}=="1"
    ATTRS{authorized_default}=="1"
    ATTRS{avoid_reset_quirk}=="0"
    ATTRS{bConfigurationValue}=="1"
    ATTRS{bDeviceClass}=="09"
    ATTRS{bDeviceProtocol}=="01"
    ATTRS{bDeviceSubClass}=="00"
    ATTRS{bMaxPacketSize0}=="64"
    ATTRS{bMaxPower}=="0mA"
    ATTRS{bNumConfigurations}=="1"
    ATTRS{bNumInterfaces}==" 1"
    ATTRS{bcdDevice}=="0415"
    ATTRS{bmAttributes}=="e0"
    ATTRS{busnum}=="2"
    ATTRS{configuration}==""
    ATTRS{devnum}=="1"
    ATTRS{devpath}=="0"
    ATTRS{idProduct}=="0002"
    ATTRS{idVendor}=="1d6b"
    ATTRS{interface_authorized_default}=="1"
    ATTRS{ltm_capable}=="no"
    ATTRS{manufacturer}=="Linux 4.15.0-48-generic xhci-hcd"
    ATTRS{maxchild}=="14"
    ATTRS{product}=="xHCI Host Controller"
    ATTRS{quirks}=="0x0"
    ATTRS{removable}=="unknown"
    ATTRS{serial}=="0000:00:14.0"
    ATTRS{speed}=="480"
    ATTRS{urbnum}=="643"
    ATTRS{version}==" 2.00"

  looking at parent device '/devices/pci0000:00/0000:00:14.0':
    KERNELS=="0000:00:14.0"
    SUBSYSTEMS=="pci"
    DRIVERS=="xhci_hcd"
    ATTRS{broken_parity_status}=="0"
    ATTRS{class}=="0x0c0330"
    ATTRS{consistent_dma_mask_bits}=="64"
    ATTRS{d3cold_allowed}=="1"
    ATTRS{device}=="0x8c31"
    ATTRS{dma_mask_bits}=="64"
    ATTRS{driver_override}=="(null)"
    ATTRS{enable}=="1"
    ATTRS{irq}=="27"
    ATTRS{local_cpulist}=="0-3"
    ATTRS{local_cpus}=="0f"
    ATTRS{msi_bus}=="1"
    ATTRS{numa_node}=="-1"
    ATTRS{revision}=="0x05"
    ATTRS{subsystem_device}=="0x0920"
    ATTRS{subsystem_vendor}=="0x1025"
    ATTRS{vendor}=="0x8086"

  looking at parent device '/devices/pci0000:00':
    KERNELS=="pci0000:00"
    SUBSYSTEMS==""
    DRIVERS==""

可以看到，

    ATTRS{devnum}=="31"
    ATTRS{devpath}=="2"
    ATTRS{idProduct}=="ea60"
    ATTRS{idVendor}=="10c4"

usb1信息如下：

s@s-Aspire-E5-572G:/etc/udev/rules.d$ udevadm info --attribute-walk --path=/sys/bus/usb-serial/devices/ttyUSB1

Udevadm info starts with the device specified by the devpath and then
walks up the chain of parent devices. It prints for every device
found, all possible attributes in the udev rules key format.
A rule to match, can be composed by the attributes of the device
and the attributes from one single parent device.

  looking at device '/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/ttyUSB1':
    KERNEL=="ttyUSB1"
    SUBSYSTEM=="usb-serial"
    DRIVER=="cp210x"
    ATTR{port_number}=="0"

  looking at parent device '/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0':
    KERNELS=="2-3:1.0"
    SUBSYSTEMS=="usb"
    DRIVERS=="cp210x"
    ATTRS{authorized}=="1"
    ATTRS{bAlternateSetting}==" 0"
    ATTRS{bInterfaceClass}=="ff"
    ATTRS{bInterfaceNumber}=="00"
    ATTRS{bInterfaceProtocol}=="00"
    ATTRS{bInterfaceSubClass}=="00"
    ATTRS{bNumEndpoints}=="02"
    ATTRS{interface}=="CP2102 USB to UART Bridge Controller"
    ATTRS{supports_autosuspend}=="1"

  looking at parent device '/devices/pci0000:00/0000:00:14.0/usb2/2-3':
    KERNELS=="2-3"
    SUBSYSTEMS=="usb"
    DRIVERS=="usb"
    ATTRS{authorized}=="1"
    ATTRS{avoid_reset_quirk}=="0"
    ATTRS{bConfigurationValue}=="1"
    ATTRS{bDeviceClass}=="00"
    ATTRS{bDeviceProtocol}=="00"
    ATTRS{bDeviceSubClass}=="00"
    ATTRS{bMaxPacketSize0}=="64"
    ATTRS{bMaxPower}=="100mA"
    ATTRS{bNumConfigurations}=="1"
    ATTRS{bNumInterfaces}==" 1"
    ATTRS{bcdDevice}=="0100"
    ATTRS{bmAttributes}=="80"
    ATTRS{busnum}=="2"
    ATTRS{configuration}==""
    ATTRS{devnum}=="14"
    ATTRS{devpath}=="3"
    ATTRS{idProduct}=="ea60"
    ATTRS{idVendor}=="10c4"
    ATTRS{ltm_capable}=="no"
    ATTRS{manufacturer}=="Silicon Labs"
    ATTRS{maxchild}=="0"
    ATTRS{product}=="CP2102 USB to UART Bridge Controller"
    ATTRS{quirks}=="0x0"
    ATTRS{removable}=="removable"
    ATTRS{serial}=="0001"
    ATTRS{speed}=="12"
    ATTRS{urbnum}=="17"
    ATTRS{version}==" 1.10"

  looking at parent device '/devices/pci0000:00/0000:00:14.0/usb2':
    KERNELS=="usb2"
    SUBSYSTEMS=="usb"
    DRIVERS=="usb"
    ATTRS{authorized}=="1"
    ATTRS{authorized_default}=="1"
    ATTRS{avoid_reset_quirk}=="0"
    ATTRS{bConfigurationValue}=="1"
    ATTRS{bDeviceClass}=="09"
    ATTRS{bDeviceProtocol}=="01"
    ATTRS{bDeviceSubClass}=="00"
    ATTRS{bMaxPacketSize0}=="64"
    ATTRS{bMaxPower}=="0mA"
    ATTRS{bNumConfigurations}=="1"
    ATTRS{bNumInterfaces}==" 1"
    ATTRS{bcdDevice}=="0415"
    ATTRS{bmAttributes}=="e0"
    ATTRS{busnum}=="2"
    ATTRS{configuration}==""
    ATTRS{devnum}=="1"
    ATTRS{devpath}=="0"
    ATTRS{idProduct}=="0002"
    ATTRS{idVendor}=="1d6b"
    ATTRS{interface_authorized_default}=="1"
    ATTRS{ltm_capable}=="no"
    ATTRS{manufacturer}=="Linux 4.15.0-48-generic xhci-hcd"
    ATTRS{maxchild}=="14"
    ATTRS{product}=="xHCI Host Controller"
    ATTRS{quirks}=="0x0"
    ATTRS{removable}=="unknown"
    ATTRS{serial}=="0000:00:14.0"
    ATTRS{speed}=="480"
    ATTRS{urbnum}=="247"
    ATTRS{version}==" 2.00"

  looking at parent device '/devices/pci0000:00/0000:00:14.0':
    KERNELS=="0000:00:14.0"
    SUBSYSTEMS=="pci"
    DRIVERS=="xhci_hcd"
    ATTRS{broken_parity_status}=="0"
    ATTRS{class}=="0x0c0330"
    ATTRS{consistent_dma_mask_bits}=="64"
    ATTRS{d3cold_allowed}=="1"
    ATTRS{device}=="0x8c31"
    ATTRS{dma_mask_bits}=="64"
    ATTRS{driver_override}=="(null)"
    ATTRS{enable}=="1"
    ATTRS{irq}=="27"
    ATTRS{local_cpulist}=="0-3"
    ATTRS{local_cpus}=="0f"
    ATTRS{msi_bus}=="1"
    ATTRS{numa_node}=="-1"
    ATTRS{revision}=="0x05"
    ATTRS{subsystem_device}=="0x0920"
    ATTRS{subsystem_vendor}=="0x1025"
    ATTRS{vendor}=="0x8086"

  looking at parent device '/devices/pci0000:00':
    KERNELS=="pci0000:00"
    SUBSYSTEMS==""
    DRIVERS==""

同样的可以看到，

    ATTRS{devnum}=="11"
    ATTRS{devpath}=="2"
    ATTRS{idProduct}=="ea60"
    ATTRS{idVendor}=="10c4"

所以我们在rules文件中这样写

ydlidar.rules:

KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{devpath}=="3", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"

kobuki.rules:

KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{devpath}=="2", MODE:="0777", SYMLINK+="kobuki2"

保存，重插usb接口即可

注:核心思想，找不同点，把usb区分开来！

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