Ubuntu Config

Device discovery setup (UDEV rules)

When a USB serial port device is connected to Ubuntu, it assigns it a device name in the /dev directory. In order to create symbolic links to these arbitrarily named devices (/dev/ttyUSB* or /dev/ttyACM*) we can use the following udev rules.

Using your favorite editor open the following file:

/etc/udev/rules.d/80-usb-serial.rules

Add the following lines to the file:

SUBSYSTEM=="tty", ATTRS{idVendor}=="1cbe", ATTRS{idProduct}=="00fd", SYMLINK+="launchpad"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="imu"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", SYMLINK+="radio"

Restart the sensor nodes for rediscovering the attached devices.

.bashrc setup:

For convenience, the code uses some environmental variables set up in the bash-rc file for easy configuration. If not added already, add the following lines to the end of the .bashrc file:

 export MACHINE="<friendly-sensor-name>"
 export ROS_MASTER_URI="<server-ip-address>"
 export ROS_IP=<ip-address-of-sensor-node>

Examples of are satellite1, satellite2, satellite3, et cetera. This is useful for the server to distinguish between data from different sensor streams.