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clearpathrobotics / robot_upstart

ROS package of helper functions related to bringing up roslaunch on system startup.
BSD 3-Clause "New" or "Revised" License
192 stars 94 forks source link

rosserial not working with service start #81

Open Druv98 opened 5 years ago

Druv98 commented 5 years ago

I have written a launch file to launch a publisher node and rosserial. When I launch the file using roslaunch it gets connected to the Arduino and the led starts blinking but when I use robot_upstart it didn't connect to Arduino. Although it launched the node which was supposed to be launched. So I can see the topics and nodes when I do rostopic/node list but the led on Arduino doesn't blink

Patrick-Lascombe commented 4 years ago

Any update concerning this issue ?

lyeemax commented 4 years ago

me too~

mikepurvis commented 4 years ago

This may be permissions. If you sudo chmod 666 /dev/ttyACM0 (or whatever your Arduino is coming up as), does it then work? If so, you'll need to make sure that you either open up the permissions permanently for that device (using a udev rule) or that whatever user is running the service job is in the dialout group (and be careful because setuidgid doesn't carry over group memberships).

kledom commented 4 years ago

I'm also having this issue (closely related to https://github.com/clearpathrobotics/robot_upstart/issues/18). I closed my pull request for this at https://github.com/clearpathrobotics/robot_upstart/pull/92 because this is probably not the right way to fix this. It worked as a workarround for me though.

The problem is as follows: The setuidgid command used for dropping root privileges does not carry over the sublementary groups, meaning that even though the user was added to dialout, it will have no effect on robot_upstart, because the process in only executed as user robot:robot. I don't know the proper way to fix this. I couldn't find any easy method...it seems like envuidgid somehow works, although it shouldn't according to the documentation.

shu-qing commented 3 years ago

All my usb virtual com port (/dev/ACM with udev rules) can not launch properly when using robot_upstart. But my usb serial port(/dev/ttyUSB) works fine. It seems that usb vcp communication depends some kind of service which didn't start before robot_upstart services. I solved it by delaying roslaunch my nodes.