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ethz-asl / ethzasl_xsens_driver

Driver for xsens IMUs
BSD 2-Clause "Simplified" License
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Fatal: could not find proper MT device #96

Closed guan4286 closed 5 years ago

guan4286 commented 5 years ago

g@g:~/tutorial_ws$ lsusb Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Bus 002 Device 002: ID 0424:5744 Standard Microsystems Corp. Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 008: ID 17ef:6019 Lenovo Bus 001 Device 007: ID 2639:0003 Xsens MTi-30 AHRS Bus 001 Device 002: ID 04d9:1836 Holtek Semiconductor, Inc. Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub g@g:~/tutorial_ws$ sudo chmod 777 /dev/bus/usb/00 001/ 002/ 003/ 004/ g@g:~/tutorial_ws$ sudo chmod 777 /dev/bus/usb/001/00 001 002 007 008
g@g:~/tutorial_ws$ sudo chmod 777 /dev/bus/usb/001/007 [sudo] password for g: g@g:~/tutorial_ws$ roslaunch xsens_driver xsens_driver.launch ... logging to /home/g/.ros/log/fc0b3f14-1ef0-11e9-bf2f-2cfda1bc2526/roslaunch-g-2755.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://g:43823/

SUMMARY

PARAMETERS

NODES / xsens_driver (xsens_driver/mtnode.py)

ROS_MASTER_URI=http://localhost:11311

process[xsens_driver-1]: started with pid [2772] [INFO] [1548235684.744982]: Found parameter: ~device, value: auto [INFO] [1548235684.746848]: Found parameter: ~baudrate, value: 0 [INFO] [1548235684.749052]: Found parameter: ~timeout, value: 0.002 [INFO] [1548235684.751343]: Found parameter: ~initial_wait, value: 0.1 [ERROR] [1548235690.174063]: Fatal: could not find proper MT device. [xsens_driver-1] process has finished cleanly log file: /home/g/.ros/log/fc0b3f14-1ef0-11e9-bf2f-2cfda1bc2526/xsens_driver-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

guan4286 commented 5 years ago

how to solve it?

pedrobagatin commented 5 years ago

how to solve it?

Did you fix? Got same problem...

guan4286 commented 5 years ago

yes i already fix it

At 2019-04-03 12:21:34, "Pedro Bagatin" notifications@github.com wrote:

how to solve it?

Did you fix? Got same problem...

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or mute the thread.

guan4286 commented 5 years ago

sudo chmod 777 /dev/bus/usb/00

mlauret commented 5 years ago

Hello,

I think you should add a udev rules to be less error prone when managing multiple USB on your PC. Here is a document to do it : https://doc.ubuntu-fr.org/udev

The udev rules consist of a file in /etc/udev/rules.d (in ubuntu) that manage plugged devices (USB/Serial/SD/etc.) when loading a driver.

In the case of the Xsens, the rules.d should look like this :

BUS=="usb", ATTRS{idVendor}=="2639", ATTRS{idProduct}=="0003", MODE="0666", SYMLINK+="xsens_mti"

Also, you can take a look at this repo : https://github.com/xsens/xsens_mti_ros_node#troubleshooting

The troubleshooting guide as answers to manage the access right on the MT Devices (with Udev rules or Group)

G-KUMAR commented 5 years ago

Is there some permanent solution to this problem?? Getting the error: Fatal: could not find proper MT device. with MTi-30 on roslaunch xsens_driver xsens_driver.launch Device is showing on running lsusb. Tried sudo chmod 777 /dev/bus/usb/00 but the error still persists. Changing the USB port on the computer works sometimes but its random every time I restart the system. Sometimes it does not work on any of the USB ports.

fcolas commented 5 years ago

@G-KUMAR It is an issue with your configuration. See the comment from @mlauret above.