[ros-users] ROS driver supporting Sparkfun IMU

[Antons Rebguns]

Patrick,

Not sure if that will help you, but here are udev rules I successfully
use to connect to 4 USB2Dynamixel devices:

# Lower arm motors (wrist, fingers)
KERNEL=="ttyUSB*", SUBSYSTEMS=="usb", ATTRS{serial}=="A80077Sk",
ATTRS{product}=="FT232R USB UART", SYMLINK+="wubble2LowerArm"

# Upper arm motors (shoulder, elbow)
KERNEL=="ttyUSB*", SUBSYSTEMS=="usb", ATTRS{serial}=="A80077Sl",
ATTRS{product}=="FT232R USB UART", SYMLINK+="wubble2UpperArm"

# Head pan and tilt motors
KERNEL=="ttyUSB*", SUBSYSTEMS=="usb", ATTRS{serial}=="A600aoO5",
ATTRS{product}=="FT232R USB UART", SYMLINK+="wubble2Head"
KERNEL=="ttyUSB*", SUBSYSTEMS=="usb", ATTRS{serial}=="A9007DWW",
ATTRS{product}=="FT232R USB UART", SYMLINK+="wubble2Head2"

Anton

On Mon, May 2, 2011 at 5:33 PM, Patrick Goebel <patrick at pirobot.org> wrote:
> This is an old thread that also pertains to creating udev rules for various
> plug and play devices, particularly USB.  Everything has been working nicely
> for a few months under Ubuntu 10.04 but today for the first time I tried to
> set up a pair of udev rules for two devices of the same type that differ
> only in their serial numbers
>
> The two devices are a pair of USB2Dynamixel controllers and the rules I
> tried are:
>
> # The USB2Dynamixel on Pi Robot controlling AX-12 servos
> SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ATTRS{manufacturer}=="FTDI",
> ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A1001a6n",
> SYMLINK+="usb2dynamixel12"
>
> # The other USB2Dynamixel on Pi Robot controlling RX-24 servos
> SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ATTRS{manufacturer}=="FTDI",
> ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A600cB3f",
> SYMLINK+="usb2dynamixel24"
>
> The trouble is that whenever I plug in either controller, *both* devices get
> created (/dev/usb2dynamixel12 and /dev/usb2dynamixel24) and they both point
> to the same /dev/ttyUSB device which is /dev/ttyUSB0 if only one controller
> is plugged in and /dev/ttyUSB1 if they are both plugged in.
>
> When I run
>
> $ udevadm info -q all --attribute-walk -n /dev/ttyUSB0
>
> when one or the other controller is plugged in, then diff the results I get:
>
> 54c54
> <     ATTRS{devnum}=="7"
> ---
>>     ATTRS{devnum}=="8"
> 61c61
> <     ATTRS{serial}=="A1001a6n"
> ---
>>     ATTRS{serial}=="A600cB3f"
> 72c72
> <     ATTRS{urbnum}=="85"
> ---
>>     ATTRS{urbnum}=="113"
> 99c99
> <     ATTRS{urbnum}=="57"
> ---
>>     ATTRS{urbnum}=="62"
>
> so you can see my serial numbers are correct.  Does anyone know how to
> handle this situation?
>
> Thanks!
> patrick
>
> http://www.pirobot.org
>
> P.S. I have attached the entire output from udevadm when one of the
> controllers is plugged in.
>
>
>
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