Welcome to MicroROS Self-balancing Robot Car repository

12.Bind device ID

When the robot uses two or more USB serial devices, the corresponding relationship between the device name and the device is not fixed, but is assigned in sequence according to the order in which the devices are connected to the system.

Inserting one device first and then another device can determine the relationship between the device and the device name, but it is very troublesome to plug and unplug the device every time the system starts. The serial port can be mapped to a fixed device name. Regardless of the insertion order, the device will be mapped to a new device name. We only need to use the new device name to read and write the device.

1.Device view command

View camera device parameters

Enter the following command in the terminal to view the corresponding relationship between the camera's pixel size and frame rate.

v4l2-ctl --list-formats-ext

View device ID

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lsusb

As can be seen from the picture below, Astra depth camera has an official document for binding the device to the ID number of each device. Generally, the controller does not need to be bound, and it can mainly be bound to the PCB and radar.

View device ID

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ll /dev/

2. Establish port mapping relationship

2.1. Device binding

• Astra binding

There is a create_udev_rules file in the scripts folder under the astra_camera function package.

Run this file to automatically bind it.

Run the command as follows

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./create_udev_rules

Enter rules.d directory

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cd /etc/udev/rules.d/

You can find the 56-orbbec-usb.rules file, which is the Astra camera device binding file.

• PCB and lidar binding

Enter rules.d directory

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 Static IP and hotspot mode
Capacity expansion and resource allocation