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 isb020
. 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.open rule file
cd ros_ws/src/aandd_ekew_driver_py/rules vim 99-weight-scale.rules
change values for
idVendor
andidProduct
. If your vendor id is0584
and product id isb020
, 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
toweightscale
inbringup.launch.py
.- port = launch.substitutions.LaunchConfiguration('port', default='/dev/ttyUSB0') + port = launch.substitutions.LaunchConfiguration('port', default='/dev/weightscale')