Under Linux (Debian Lenny) I am having issues running an ROS node with
superuser (root) privileges.
I must have superuser privileges on this node becuase the library for
the Roboard (
www.roboard.com) requires it for hardware access. That
library uses #include <sys/io.h>.
So what I have done is after building the node a script will chown
root:root the node, and chmod +s the node. The node functions
properly and as expected when it accesses the hardware, until I start
using callbacks for messages. If calls are made to <sys/io.h> from
within a message callback the program segfaults, but if calls are made
to <sys/io.h> elsewhere in the program there are no problems.
I would like to run privileged code from within the callbacks, how can
I do this? Are the callbacks being executed from a separate thread
which does not have privileges? What am I missing here?
Or is there a better, different method to run a node with root privileges?
The pr2_etherCAT (
http://www.ros.org/wiki/pr2_etherCAT) node uses root
privelges. A program called pr2_grant runs the chmod command similar
to what I did. But pr2_etherCAT does not subscribe to any topics, nor
does it include <sys/io.h> so I couldn't get more help there.
Thank you,
Taylor Veltrop
http://taylor.veltrop.com
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