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This is not a problem of robot_upstart.

Either make sure that you have the access rights as your user. Typically, the group dialout has read-write access to those ports (if I'm correct). So add your user to this group: sudo usermod -a -G dialout $USER or sudo adduser $USER dialout. Then log out or reboot and you should be in this group and have access.

An alternative would be to define a udev rule to permanantly change the access rights. But I would not do this if it is not required.