[Gearbox-devel] links in /dev/ for each hokuyo device

[Luiz G. B. M. <lui...@gm...>]

Hello, I think this tool is of general interest:

I wanted to have coherent links in /dev/ to each one of my two hokuyo.
But udev can not see the device serial numbers, although it can see
the vendor id and other info.
So I have done this way:
1- I added a small util, a stripped down hokuyo_aist_example.cpp, that
just connects to the laser, prints out the serial number, and exits.
2- I added a udev rule that calls that util, gets the serial number,
and creates a link named /dev/hokuyo_* where * is the serial number,
pointing to the appropriate /dev/ACM*
3- Now everytime I connect an hokuyo, I get a nice specific link to
each device. I tested with URG04 and UTM30 and both work. The doc.dox
file should explain a little more.

People use the the same approach with ROS:
http://www.hsi.gatech.edu/hrl-wiki/index.php/Linux_Tools

The attached patch, which also includes the udev rule, was obtained with:
lgm@palma:~/orca/gearbox/src/hokuyo_aist$ svn diff .

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Luiz Gustavo Bizarro Mirisola