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Rosrun as super user

asked 2014-08-08 04:35:57 -0600

trc123 gravatar image

updated 2014-08-08 05:09:43 -0600

Hello, I have some code in my ros node (within a catkin workspace) that requires super user privilege in order to access some serial ports. How can this be done as sudo does not work with rosrun.


Edit: This is using the admin account:

$groups ros
ros : ros adm dialout cdrom sudo dip plugdev lpadmin sambashare
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How about you try to open the ports in .bashrc file ?

sai gravatar image sai  ( 2014-08-08 04:37:21 -0600 )edit

How can this be done?

trc123 gravatar image trc123  ( 2014-08-08 04:43:00 -0600 )edit

2 Answers

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answered 2014-08-08 04:47:48 -0600

gvdhoorn gravatar image

updated 2014-08-08 05:19:38 -0600

You should really not use sudo with rosrun. It leads to all sorts of nastiness with permissions.

For serial ports (and access to other hardware through /dev/xxx) you just need to give the relevant user (most likely your user) access to the device file (fi: /dev/ttyS0). This is not ROS specific.

See How do I allow a non-default user to use serial device ttyUSB0? on the Ubuntu stack-exchange for instance.

For ROS specific answers: google: linux serial ports udev access, which gives you:

Edit: and just for completeness (and for the lazy), a quote from the first answer to the question on the Ubuntu stack-exchange:

As you've noticed, the /dev/ttyUSB0 device has the group of dialout. All you need to do is add the second user to the dialout group:

sudo adduser USERNAME dialout

Note: you need to log out and back in for your user groups to be reloaded.

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Thank you, I needed to rebooting.

trc123 gravatar image trc123  ( 2014-08-08 05:22:40 -0600 )edit

answered 2014-08-08 04:45:43 -0600

AFAIK the best way is to change (privilege) mode with udev rules, so that maybe every user can use this serial devices.

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Asked: 2014-08-08 04:35:57 -0600

Seen: 4,982 times

Last updated: Aug 08 '14