【发布时间】：2021-10-04 16:39:47
【问题描述】：
我正在尝试将 M210 v2 RTK 连接到装有 Ubuntu 18.04、ROS Melodic 并并行安装 Opencv 3.3.1 和 4.5.3 的台式计算机，使用 USB-TTL RS232 进行 UART 连接和 USB-USB 连接无人机和桌面能够运行 Advanced Sensing。
当我调用 ls -l /dev/ttyACM* && ls -l /dev/ttyUSB* 时，它返回它已识别 USB 和 ACM 连接。
crw-rw---- 1 root dialout 166, 0 out 4 13:18 /dev/ttyACM0
crw-rw---- 1 root dialout 188, 0 out 4 13:18 /dev/ttyUSB0
我还使用minicom将TTL-USB的传输速率设置为921600，并使用sudo usermod -a -G dialout $USER && sudo chmod 666 /dev/ttyUSB0授予设备读写权限
不幸的是，当我启动roslaunch dji_osdk_ros dji_sdk_node.launch 时，它出现了一些连接问题，我无法修复它。我一直试图打开/关闭无人机和 RC 几次 ass 描述 here，但问题仍然存在。
started roslaunch server http://V3D06:43613/
SUMMARY
========
PARAMETERS
* /dji_sdk/acm_name: /dev/ttyACM0
* /dji_sdk/align_time: False
* /dji_sdk/app_id: 1076017
* /dji_sdk/app_version: 1
* /dji_sdk/baud_rate: 921600
* /dji_sdk/dxc: False
* /dji_sdk/enc_key: 6bd1d26f8dd897e4b...
* /dji_sdk/serial_name: /dev/ttyUSB0
* /dji_sdk/use_broadcast: False
* /rosdistro: melodic
* /rosversion: 1.14.12
NODES
/
dji_sdk (dji_osdk_ros/dji_sdk_node)
auto-starting new master
process[master]: started with pid [2436]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to bde7b4d2-252e-11ec-8a59-1831bfb3e154
process[rosout-1]: started with pid [2458]
started core service [/rosout]
process[dji_sdk-2]: started with pid [2464]
[ INFO] [1633364323.534426789]: Advanced Sensing is Enabled on M210.
Read App ID
User Configuration read successfully.
[1276751.089]STATUS/1 @ getDroneVersion, L1702: ret = 0
[1276751.089]STATUS/1 @ parseDroneVersionInfo, L1122: Device Serial No. = 1DADG3E00100U4
[1276751.089]STATUS/1 @ parseDroneVersionInfo, L1124: Firmware = 3.4.3.44
[1276751.089]STATUS/1 @ functionalSetUp, L279: Shake hand with drone successfully by getting drone version.
[1276751.089]STATUS/1 @ legacyX5SEnableTask, L56: Legacy X5S Enable task created.
[1276752.089]STATUS/1 @ sendHeartbeatToFCTask, L1576: OSDK send heart beat to fc task created.
[1276752.289]STATUS/1 @ Control, L40: The control class is going to be deprecated.It will be better to use the FlightController class instead!
[1276752.290]STATUS/1 @ FileMgrImpl, L253: register download file callback handler successfully.
[1276753.557]STATUS/1 @ PSDKModule, L98: MOP only support M300, so mop client will not be initialized here.
[1276753.557]STATUS/1 @ PSDKModule, L98: MOP only support M300, so mop client will not be initialized here.
[1276753.557]STATUS/1 @ PSDKModule, L98: MOP only support M300, so mop client will not be initialized here.
[1276753.557]STATUS/1 @ initDJIHms, L900: DJI HMS is not supported on this platform!
[1276753.567]STATUS/1 @ getDroneVersion, L1702: ret = 0
[1276753.567]STATUS/1 @ parseDroneVersionInfo, L1122: Device Serial No. = 1DADG3E00100U4
[1276753.567]STATUS/1 @ parseDroneVersionInfo, L1124: Firmware = 3.4.3.44
[1276753.567]STATUS/1 @ AdvancedSensing, L145: Advanced Sensing init for the M210 drone
[1276753.567]STATUS/1 @ init, L49: Looking for USB device...
[1276753.572]STATUS/1 @ init, L65: Found 8 USB devices, identifying DJI device...
[1276753.572]STATUS/1 @ init, L83: Found a DJI device...
[1276753.572]STATUS/1 @ init, L96: Attempting to open DJI USB device...
[1276753.572]ERRORLOG/1 @ init, L101: Failed to open DJI USB device...
[1276753.572]ERRORLOG/1 @ init, L102: Error code: -3
[1276753.572]ERRORLOG/1 @ init, L105: Please make sure you provide a udev file for your system and reboot the computer
[1276753.573]STATUS/1 @ LiveViewImpl, L89: Finding if liveview stream is available now.
[1276754.076]STATUS/1 @ init, L254: Start advanced sensing initalization
[1276754.076]STATUS/1 @ activate, L1329: version 0x304032C
[1276754.076]STATUS/1 @ adv_pthread, L46: adv pthread created !!!!!!!!!!!!!!!!!!!!!!!
[1276754.076]STATUS/1 @ adv_pthread, L48: adv pthread running !!!!!!!!!!!!!!!!!!!!!!!
[dji_sdk-2] process has died [pid 2464, exit code -11, cmd /home/vant3d/catkin_ws/devel/lib/dji_osdk_ros/dji_sdk_node __name:=dji_sdk __log:=/home/vant3d/.ros/log/bde7b4d2-252e-11ec-8a59-1831bfb3e154/dji_sdk-2.log].
log file: /home/vant3d/.ros/log/bde7b4d2-252e-11ec-8a59-1831bfb3e154/dji_sdk-2*.log
提供 udev 文件似乎有问题，但我不知道如何解决。有没有人有一些想法可以帮助解决这个问题？
谢谢！
【问题讨论】：
标签： linux usb ros dji-sdk udev