【硬件调试-2】flir灰点相机usb设备权限设置，无法检测到设备

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这里列出一些官网链接（里面可以下载包括使用说明，SDK等等）： https://www.flir.asia/support/products/blackfly-s-usb3/?page=2

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# 前言

今天看见flir相机的SDK包有更新到2.4，新包解决了qt冲突，spiniew和rviz和共用了，所以果断升级。
卸掉2.3并安装完2.4后。我打开spinview，发现找不到相机了。东找西找，发现是usb权限问题。因此修改rules并解决。

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一、在开机信息中查看所有被检测到的硬件

进入路径：/etc/udev/rules.d

cd /etc/udev/rules.d
dmesg 
# 出现设备
[  474.373317] usb 2-4.4: new SuperSpeed Gen 1 USB device number 17 using xhci_hcd
[  474.396066] usb 2-4.4: New USB device found, idVendor=1e10, idProduct=4000, bcdDevice= 0.00
[  474.396072] usb 2-4.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  474.396076] usb 2-4.4: Product: Blackfly S BFS-U3-50S5C
[  474.396079] usb 2-4.4: Manufacturer: FLIR
[  474.396081] usb 2-4.4: SerialNumber: 0126E0B8
[  474.661306] usb 2-4.2: new SuperSpeed Gen 1 USB device number 18 using xhci_hcd
[  474.683901] usb 2-4.2: New USB device found, idVendor=1e10, idProduct=4000, bcdDevice= 0.00
[  474.683906] usb 2-4.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  474.683909] usb 2-4.2: Product: Blackfly S BFS-U3-200S6C
[  474.683912] usb 2-4.2: Manufacturer: FLIR
[  474.683914] usb 2-4.2: SerialNumber: 014145B1
[  475.889624] usb 2-3.2: new SuperSpeed Gen 1 USB device number 19 using xhci_hcd
[  475.913048] usb 2-3.2: New USB device found, idVendor=1e10, idProduct=4000, bcdDevice= 0.00
[  475.913054] usb 2-3.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  475.913058] usb 2-3.2: Product: Blackfly S BFS-U3-16S2C-BD
[  475.913061] usb 2-3.2: Manufacturer: FLIR
[  475.913063] usb 2-3.2: SerialNumber: 0139063F
[  476.029622] usb 2-3.3: new SuperSpeed Gen 1 USB device number 20 using xhci_hcd
[  476.052997] usb 2-3.3: New USB device found, idVendor=1e10, idProduct=4000, bcdDevice= 0.00
[  476.053003] usb 2-3.3: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  476.053007] usb 2-3.3: Product: Blackfly S BFS-U3-16S2C-BD
[  476.053011] usb 2-3.3: Manufacturer: FLIR
[  476.053014] usb 2-3.3: SerialNumber: 0142160D
[  476.169635] usb 2-3.4: new SuperSpeed Gen 1 USB device number 21 using xhci_hcd
[  476.191889] usb 2-3.4: New USB device found, idVendor=1e10, idProduct=4000, bcdDevice= 0.00
[  476.191894] usb 2-3.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  476.191897] usb 2-3.4: Product: Blackfly S BFS-U3-16S2C-BD
[  476.191901] usb 2-3.4: Manufacturer: FLIR
[  476.191903] usb 2-3.4: SerialNumber: 01390640
[  476.449588] usb 2-3.1: new SuperSpeed Gen 1 USB device number 22 using xhci_hcd
[  476.473016] usb 2-3.1: New USB device found, idVendor=1e10, idProduct=4000, bcdDevice= 0.00
[  476.473022] usb 2-3.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  476.473026] usb 2-3.1: Product: Blackfly S BFS-U3-16S2C-BD
[  476.473029] usb 2-3.1: Manufacturer: FLIR
[  476.473032] usb 2-3.1: SerialNumber: 0139063E

二、查看usb设备

lsusb
Bus 002 Device 021: ID 1e10:4000 Point Grey Research, Inc. 
Bus 002 Device 020: ID 1e10:4000 Point Grey Research, Inc. 
Bus 002 Device 019: ID 1e10:4000 Point Grey Research, Inc. 
Bus 002 Device 022: ID 1e10:4000 Point Grey Research, Inc. 

三、修改rules

修改驱动安装时，默认配置的40-flir-spinnaker.rules
由

SUBSYSTEM=="usb", ATTRS{idVendor}=="1e10",GROUP="flirimaging"

修改为：

SUBSYSTEM=="usb", ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="4000", MODE:="0777",GROUP="flirimaging"

然后拔掉usb重新插上即可。

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总结

总之usb设备读不到，一般为权限问题，先查看rules有没有问题。