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You can use a udev rule to get this result.

If you run the following as root

echo 'SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="sensors/ftdi_%s{serial}"' > /etc/udev/rules.d/52-ftdi.rules


you'll get a brand new udev rule that will create symlinks in /dev/sensors based on the unique serial numbers burned into the FTDI chip's EEPROM. For example, if your Arduino's FTDI chip had a serial number of abc123, if you are using this udev rule after you plug the Arduino in, you will have a symlink of /dev/sensors/ftdi_abc123 that links to /dev/ttyUSB0 (or whichever /dev/ttyUSB device is appropriate if you have more than one). This way, you can use the path /dev/sensors/ftdi_abc123 in your launch files when configuring a node such as the xv_11_laser_driver.

You If you are running Ubuntu (or another flavor of Linux that uses udev), you can use a udev rule to get this result.

If you run the following as root

echo 'SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="sensors/ftdi_%s{serial}"' > /etc/udev/rules.d/52-ftdi.rules


you'll get a brand new udev rule that will create symlinks in /dev/sensors based on the unique serial numbers burned into the FTDI chip's EEPROM. You'll have to restart udev (or your entire PC) in order for this rule to take effect.

For example, if your Arduino's FTDI chip had a serial number of abc123, if you are using this udev rule after you plug the Arduino in, you will have a symlink of /dev/sensors/ftdi_abc123 that links to /dev/ttyUSB0 (or whichever /dev/ttyUSB device is appropriate if you have more than one). This way, you can use the path /dev/sensors/ftdi_abc123 in your launch files when configuring a node such as the xv_11_laser_driver.