udev rules 关于信息相同的usb 设备

最新推荐文章于 2022-08-24 01:31:58 发布

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最新推荐文章于 2022-08-24 01:31:58 发布

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分类专栏： Linux ROS

本文链接：https://blog.csdn.net/qq_35508344/article/details/104730743

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根据usb硬件端口与内核的关系进行绑定
参考

系统设置参考思岚的脚本，usb 端口udev 设置和脚本编写以思岚激光雷达的实例参考 rplidar.rules

KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar"

creat_udev_rule.sh

#!/bin/bash

echo "remap the device serial port(ttyUSBX) to  rplidar"
echo "rplidar usb connection as /dev/rplidar , check it using the command : ls -l /dev|grep ttyUSB"
echo "start copy rplidar.rules to  /etc/udev/rules.d/"
echo "`rospack find rplidar_ros`/scripts/rplidar.rules"
sudo cp `rospack find rplidar_ros`/scripts/rplidar.rules  /etc/udev/rules.d
echo " "
echo "Restarting udev"
echo ""
sudo service udev reload
sudo service udev restart
echo "finish "

delete_udev_rules.sh

#!/bin/bash
echo "delete remap the device serial port(ttyUSBX) to  rplidar"
echo "sudo rm   /etc/udev/rules.d/rplidar.rules"
sudo rm   /etc/udev/rules.d/rplidar.rules
echo " "
echo "Restarting udev"
echo ""
sudo service udev reload
sudo service udev restart
echo "finish  delete"

实际经验

（1）对应某个设备文件，查询确认内核端口的方法，示例端口/dev/video0：
nvidia@tegra-ubuntu:~$ udevadm info --attribute-walk --name=/dev/video1 | grep KERNELS
    KERNELS=="1-3.4:1.0"
    KERNELS=="1-3.4"
    KERNELS=="1-3"
    KERNELS=="usb1"
    KERNELS=="3530000.xhci"
nvidia@tegra-ubuntu:~$ udevadm info --attribute-walk --name=/dev/video0 | grep KERNELS
    KERNELS=="1-3.1:1.0"
    KERNELS=="1-3.1"
    KERNELS=="1-3"
    KERNELS=="usb1"
    KERNELS=="3530000.xhci"
（2）当前usb_cam的udev rule：
nvidia@tegra-ubuntu:/etc/udev/rules.d$ cat 98-xxx-dev.rules
SUBSYSTEMS=="usb", KERNEL=="video*", KERNELS=="1-3.1", ATTRS{idProduct}=="1a90", ATTRS{idVendor}=="2de3",SYMLINK+="video_sence"
SUBSYSTEMS=="usb", KERNEL=="video*", KERNELS=="1-3.3", ATTRS{idProduct}=="1a90", ATTRS{idVendor}=="2de3",SYMLINK+="video_back"
SUBSYSTEMS=="usb", KERNEL=="video*", KERNELS=="1-3.4", ATTRS{idProduct}=="1a90", ATTRS{idVendor}=="2de3",SYMLINK+="video_front"

(3)当前连接设备
nvidia@tegra-ubuntu:/etc/udev/rules.d$ cd /dev/
nvidia@tegra-ubuntu:/dev$ ll video*
crw-rw----+ 1 root video 81, 0 Apr  2 09:19 video0
lrwxrwxrwx  1 root root      6 Apr  2 09:19 video_sence -> video0