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How to set ~port /dev/ttyusb? parameter in arbotix python?

asked 2014-03-22 15:58:01 -0600

RobotRoss gravatar image

Referenc; , 2. Driver Node, 2.1.4 Parameters

Have a Trossen Turtlebot Arm driven by an Arbotix controller & want to run arbotix_gui or arbotix_terminal at the same time as a create turtlebot & need to set the arbotix_gui to use /dev/ttyusb1 to interface with the Arbotix controller usb cable, as the turtlebot uses /ttyusb0, apart from hard coding the arbotix_gui python script. The 2.3 Configuration text describes using an YAML file to set parameters and a launch file: but in what directories do the launch and default.yaml files go? Any easy way to set the arbotix default port to /dev/ttyusb1? I realize that a necessary procedure is to plug turtlebot usb cable in first, launch it, then plug in the arbotix cable.

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answered 2014-03-23 10:17:57 -0600

If you are running the command from the command line you can do add _port:=/dev/ttyX to the command to change the port. The launch files can be kept in a new package that depends on the packages you are calling. You may want to create udev rules for the devices.

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Tnx. May I ask what specific "command to change the port" do I add the _port string in your comment? Also the launch question, the package is "arbotix_python", so in what folder would my new launch folder and file go?

RobotRoss gravatar image RobotRoss  ( 2014-03-26 06:50:43 -0600 )edit

Try 'rosrun arbotix_python arbotix_driver _port:=/dev/ttyUSB1', I don't have a board to test with.

tonybaltovski gravatar image tonybaltovski  ( 2014-03-26 07:36:41 -0600 )edit

Did you compile the package from source or install from debs? If you installed it from the debs, you need to make a new package in a workspace that depends on arbotix and I'd recommend that even if you installed it from source. If it was installed from source, you can just make a launch folder.

tonybaltovski gravatar image tonybaltovski  ( 2014-03-26 07:38:00 -0600 )edit

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Asked: 2014-03-22 15:58:01 -0600

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Last updated: Mar 23 '14