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davetcoleman / clam

ROS software for controlling 7-DOF low-cost robotic manipulator
http://correll.cs.colorado.edu/clam/
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Update 50-usb-serial.rules #8

Closed rojas70 closed 9 years ago

rojas70 commented 10 years ago

The current udev rules does not allow us to identify dynamixel_ttl. We think this new rule may be more dependable.

davetcoleman commented 10 years ago

I know there are dependability issues with the serial interface on the ClamArm, but are you sure this is the best approach? Does KERNEL=ttyUSB0 and KERNEL=ttyUSB1 lock you into a certain ordering of USB plug-ins or locations? This seems less flexible, but I do not really know.

rojas70 commented 10 years ago

We are having trouble talking to the motors. I do not know what is the problem.

When we used the interface you provided, we could only see the dynamixel_rs484 device but not the ttl. Some students got to see both devices with the above rule but it did lock the ordering or the USB plugins.

Right now when we run clam_bringup we can't seem to be able to open the device and find the motors.

[ERROR] [1403509786.130510390]: SerialPort::BaudToConstant() Invalid baud rate: 57142 [ERROR] [1403509786.139383019]: Failed to open device /dev/dynamixel_ttl with error: (2) No such file or directory [FATAL] [1403509786.140655568]: No motors found on any configured serial port, aborting

I am trying to set different baud rates.

Dr. Juan Rojas SYSU Assistant Professor School of Software, Sun Yat-Sen University http://ss.sysu.edu.cn/~Rojas http://ss.sysu.edu.cn/~Rojas

On Mon, Jun 23, 2014 at 10:10 AM, Dave Coleman notifications@github.com wrote:

I know there are dependability issues with the serial interface on the ClamArm, but are you sure this is the best approach? Does KERNEL=ttyUSB0 and KERNEL=ttyUSB1 lock you into a certain ordering of USB plug-ins or locations? This seems less flexible, but I do not really know.

— Reply to this email directly or view it on GitHub https://github.com/davetcoleman/clam/pull/8#issuecomment-46800717.

rojas70 commented 10 years ago

Dave,

Sorry to bother you. Quick question. Did you have to install a driver for the dynamixel's in linux? I can't recognized all devices as is, I also noted that I have no folder called ftdi_sio, and I have been looking at the following driver's tutorial: http://support.robotis.com/en/software/dynamixel_sdk/usb2dynamixel/usb2dxl_linux.htm .

A quick pointer would be appreciated. Thanks

Dr. Juan Rojas SYSU Assistant Professor School of Software, Sun Yat-Sen University http://ss.sysu.edu.cn/~Rojas http://ss.sysu.edu.cn/~Rojas

On Mon, Jun 23, 2014 at 3:53 PM, Juan Rojas rojas70@gmail.com wrote:

We are having trouble talking to the motors. I do not know what is the problem.

When we used the interface you provided, we could only see the dynamixel_rs484 device but not the ttl. Some students got to see both devices with the above rule but it did lock the ordering or the USB plugins.

Right now when we run clam_bringup we can't seem to be able to open the device and find the motors.

[ERROR] [1403509786.130510390]: SerialPort::BaudToConstant() Invalid baud rate: 57142 [ERROR] [1403509786.139383019]: Failed to open device /dev/dynamixel_ttl with error: (2) No such file or directory [FATAL] [1403509786.140655568]: No motors found on any configured serial port, aborting

I am trying to set different baud rates.

Dr. Juan Rojas SYSU Assistant Professor School of Software, Sun Yat-Sen University http://ss.sysu.edu.cn/~Rojas http://ss.sysu.edu.cn/~Rojas

On Mon, Jun 23, 2014 at 10:10 AM, Dave Coleman notifications@github.com wrote:

I know there are dependability issues with the serial interface on the ClamArm, but are you sure this is the best approach? Does KERNEL=ttyUSB0 and KERNEL=ttyUSB1 lock you into a certain ordering of USB plug-ins or locations? This seems less flexible, but I do not really know.

— Reply to this email directly or view it on GitHub https://github.com/davetcoleman/clam/pull/8#issuecomment-46800717.

davetcoleman commented 10 years ago

I always had issues with this too, but they were usually resolved unplugging and re-plugging back in, in varying orders. I never fully understood it. I think you'll need to contact dynamixel.

davetcoleman commented 10 years ago

Can you instead change this PR to add a new file called something like 50-usb-serial.rules.alternative so that users can try both and see what their mileage is like?