New developing version of IO for ZJUDancer
catkin_make
source devel/setup.zsh
We use udev rules to change the access permissions to devices, set port corresponded to our port names used in code.
Generally, the serial port mapping are listed below:
For instant setup for usage, you can put the 99-dancer-serial.rules to /etc/udev/rules.d
, and put the change_timer.sh to etc/zjudancer/hardware
, then give executive permission to this file: sudo chmod +x change_timer.sh
.
If one day the hardware is changed, you should learn to change the rules according to new features, hope you can get some suggestion from the below figure.
roslaunch dmotion ... #servo_read.launch or servo_write.launch or IOManager_read_write.launch
sudo chmod 666 /dev/ttyUSB0 #sometimes it's not USB0