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ROS/px4: Access px4-based devices by /dev/px4fmu

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We assume there won't be more than one FMU connected to the Raspberry Pi at any given time.
This commit is contained in:
sfalexrog
2019-03-01 20:59:33 +03:00
parent 09c9f65165
commit 24e516b898
3 changed files with 18 additions and 1 deletions
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15
builder/assets/99-pixhawk.rules Normal file
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@@ -0,0 +1,15 @@
# PixHawk (px4fmu-v2), px4fmu-v3
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", SYMLINK+="px4fmu"
# PixRacer (px4fmu-v4)
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", SYMLINK+="px4fmu"
# px4fmu-v5
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", SYMLINK+="px4fmu"
# auav
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", SYMLINK+="px4fmu"
# crazyflie
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", SYMLINK+="px4fmu"
# px4fmu-v4pro
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", SYMLINK+="px4fmu"
# Omnibus
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", SYMLINK+="px4fmu"

2
builder/image-build.sh
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@@ -109,6 +109,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
# Add PX4 udev rules
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/99-pixhawk.rules' '/lib/udev/rules.d/'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'

2
clever/launch/mavros.launch
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@@ -10,7 +10,7 @@
<param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
<!-- USB connection -->
<param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
<param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
<!-- sitl -->
<param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>