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ROBOTIS-GIT / hls_lfcd_lds_driver

ROS package for HLDS HLS-LFCD LDS driver
http://turtlebot3.robotis.com
BSD 3-Clause "New" or "Revised" License
88 stars 70 forks source link

Release for ROS Humble #69

Open dfarning opened 2 years ago

dfarning commented 2 years ago

We use a lds-01 on a custom robot which we are updating to ROS humble.

Could you please create a humble release for this driver?

Humble beta(1) opened a few days ago.

My initial issue seems to be that a new /dev/tty* device does not seem to be created when plugging in the USB adapter.

I tried

dave@ros-rpi4:~$ ls -1 /dev > ~/before.txt

Plug in device( the lider starts to spin)

dave@ros-rpi4:~$ ls -1 /dev > ~/after.txt
dave@ros-rpi4:~$ diff ~/before.txt ~/after.txt

When building the driver manually, it builds but does not run

dave@ros-rpi4:~/hls_lfcd_lds_driver/applications/lds_driver$ make
g++ -c lds_driver.cpp -I/usr/include -L/usr/lib/x86_64-linux-gnu -lboost_system -lpthread 
g++ -o lds_driver lds_driver.o -I/usr/include -L/usr/lib/x86_64-linux-gnu -lboost_system -lpthread 
dave@ros-rpi4:~/hls_lfcd_lds_driver/applications/lds_driver$ ./lds_driver 
An exception was thrown: open: No such file or directory
  1. https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
dfarning commented 2 years ago

I dug a bit deeper into the usb issue on ubuntu 22.04 by running

sudo dmesg --follow

and then plugging in the LDS-01 USB converter.

[ 6345.489900] usb 1-1.3: USB disconnect, device number 7
[ 6773.554255] usb 1-1.3: new full-speed USB device number 8 using xhci_hcd
[ 6773.660041] usb 1-1.3: New USB device found, idVendor=10c4, idProduct=ea60, bcdDevice= 1.00
[ 6773.660084] usb 1-1.3: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 6773.660101] usb 1-1.3: Product: CP2102 USB to UART Bridge Controller
[ 6773.660115] usb 1-1.3: Manufacturer: Silicon Labs
[ 6773.660128] usb 1-1.3: SerialNumber: 0001
[ 6773.667889] cp210x 1-1.3:1.0: cp210x converter detected
[ 6773.673877] usb 1-1.3: cp210x converter now attached to ttyUSB0
[ 6776.613759] usb 1-1.3: usbfs: interface 0 claimed by cp210x while 'brltty' sets config #1
[ 6776.618192] cp210x ttyUSB0: cp210x converter now disconnected from ttyUSB0
[ 6776.618397] cp210x 1-1.3:1.0: device disconnected

The issue seems to be a usbfs conflict with brltty.

I was able to remove brltty with

sudo apt remove brltty
sudo apt autoclean && sudo apt autoremove

I can access /dev/ttyUSB0 with

sudo chmod a+rw /dev/ttyUSB0
goekce commented 1 year ago

I can confirm that latest version is still not released for humble:

https://index.ros.org/p/hls_lfcd_lds_driver/#humble-overview

@ROBOTIS-Will is there a reason why?

goekce commented 1 year ago

I see that version 2.04 is released and not 2.05. There seem to be no functional changes, so maybe no release is required. It would be great to release 2.05 to avoid confusion.