aandd_ekew_driver_py

aandd ek/ew series driver python package

README

aandd_ekew_driver_py

install python module “serial”

sudo rosdep init
rosdep update
rosdep install --from-paths aandd_ekew_driver_py -y --ignore-src

prepare for interfaces (option)

this node uses weight_scale_interfaces

cd ~/dev_ws/src
git clone https://github.com/TechMagicKK/weight_scale_interfaces.git
cd ~/dev_ws
colcon build --cmake-clean-first --symlink-install --packages-select weight_scale_interfaces
. install/local_setup.zsh

rs-232c device setting

cd ~/dev_ws/aandd_ekew_driver_py/launch
edit bringup.launch.py for change params (port, baudrate, rate)

build

cd ~/dev_ws
colcon build --cmake-clean-first --symlink-install --packages-select aandd_ekew_driver_py
. install/local_setup.zsh

launch node

ros2 launch aandd_ekew_driver_py bringup.launch.py

launch node with fake device for test

ros2 launch aandd_ekew_driver_py bringup.launch.py use_fake:=True

change publish rate to 1.2[Hz]

ros2 param set /aandd_ekew_node rate 1.2

fix the port name and add privilege(option)

check vendor id and product id.

plug/unplug the usb cable in order to find the vendor id and product id of your device with lsusb command. For example, you can see the following text.

Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 004: ID 04f2:b7c0 Chicony Electronics Co., Ltd Integrated Camera
Bus 003 Device 003: ID 06cb:00f9 Synaptics, Inc.
Bus 003 Device 005: ID 8087:0033 Intel Corp.
Bus 003 Device 007: ID 0584:b020 RATOC System, Inc. REX-USB60F
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

hopefully you can find the new line. the example is the following.
```
Bus 003 Device 007: ID 0584:b020 RATOC System, Inc. REX-USB60F
```
The vendor id is 0584, and product id is b020. NOTE: This is example, the vendor id and product id depend on your device. It may be difference in your device.

change value in aandd_ekew_driver_py/rules/99-weight-scale.rules with your product id and product id.
1. open rule file
```
cd ros_ws/src/aandd_ekew_driver_py/rules
vim 99-weight-scale.rules
```
2. change values for idVendor and idProduct. If your vendor id is 0584 and product id is b020, edit it as below.
```
SUBSYSTEM=="tty", ATTRS{idVendor}=="0584", ATTRS{idProduct}=="b020", SYMLINK+="weightscale", MODE="0666"
```

copy the rule file into /etc/udev/rules.d/

sudo cp 99-weight-scale.rules /etc/udev/rules.d

enable your rule
```
sudo udevadm control --reload
```
unplug and plug your usb cable. If the change is successful, you can find /dev/weightscale.

change port to weightscale in bringup.launch.py.

- port = launch.substitutions.LaunchConfiguration('port', default='/dev/ttyUSB0')
+ port = launch.substitutions.LaunchConfiguration('port', default='/dev/weightscale')