Added udev rules for SCITOS

Signed-off-by: Alberto Tudela <[email protected]>
grupo-avispa · Oct 8, 2024 · 0509df2 · 0509df2
1 parent dfe3129
commit 0509df2
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Showing 3 changed files with 18 additions and 0 deletions.
diff --git a/scitos2_mira/CMakeLists.txt b/scitos2_mira/CMakeLists.txt
@@ -123,6 +123,10 @@ install(FILES test/scitos_config.xml
   DESTINATION share/${PROJECT_NAME}/test
 )
 
+install(FILES rules/99-SCITOS.rules
+  DESTINATION "/etc/udev/rules.d"
+)
+
 # ###########
 # Testing  ##
 # ###########

diff --git a/scitos2_mira/package.xml b/scitos2_mira/package.xml
@@ -16,6 +16,8 @@
   <depend>scitos2_core</depend>
   <depend>scitos2_common</depend>
 
+  <exec_depend>nav2_lifecycle_manager</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>

diff --git a/scitos2_mira/rules/99-SCITOS.rules b/scitos2_mira/rules/99-SCITOS.rules
@@ -0,0 +1,12 @@
+###############################################################################
+# udev rules for MetraLabs MCU and HG4
+###############################################################################
+
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{manufacturer}=="MetraLabs", ATTRS{product}=="SCITOS MCU", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="USB_LaserFront"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{manufacturer}=="MetraLabs", ATTRS{product}=="SCITOS MCU", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="USB_LaserBack"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{manufacturer}=="MetraLabs", ATTRS{product}=="SCITOS MCU", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="USB_MLCAN"
+#SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{manufacturer}=="MetraLabs", ATTRS{product}=="SCITOS MCU", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="USB_unused"
+
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", ATTRS{manufacturer}=="MetraLabs", ATTRS{product}=="ML-LIDAR0", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="USB_Lidar0"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", ATTRS{manufacturer}=="MetraLabs", ATTRS{product}=="ML-LIDAR0", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="USB_Lidar1"
+