Device Aliasing Setup

Source: .../compute_setup/jetson/usb_rules.md

Table of contents

• Setup notes
• Connect to PS5 controller
  • Via wired cable
  • Via Bluetooth (optional)
• Fort Robotics controller
• Some useful USB commands

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First, add your user to some groups:

sudo adduser <<USER>> dialout
sudo adduser <<USER>> video

Setup notes

Do the following to set up access to the Arduino which controls the vine robot base:

sudo nano /etc/udev/rules.d/99-arduino.rules

and then paste in the following:

KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0043", SYMLINK+="com/vine_arduino"

To put the changes into effect, run

sudo udevadm control --reload-rules
sudo udevadm trigger

and then reboot.

Connect to PS5 controller

First install the following package to interface with the PS5 controller via python:

python -m pip install pydualsense pyserial

Via wired cable

Plug the PS5 DualSense controller into one of the Jetson’s USB 3.0 ports using a data-cable USB-C cable. Make sure the cable is not just a charging cable!

Charge-only USB-C cables are missing the data lines the controller needs and will not work here, even though they charge the controller fine.

Do the following to set up access to the PS5 controller for teleoperation:

sudo nano /etc/udev/rules.d/70-ps5-controller.rules

and then paste in the following:

# ref.: https://boilingsteam.com/the-dualsense-is-making-even-more-sense/

# PS5 DualSense controller over USB hidraw
KERNEL=="hidraw*", ATTRS{idVendor}=="054c", ATTRS{idProduct}=="0ce6", MODE="0660", TAG+="uaccess" SYMLINK+="input/ps5"
# PS5 DualSense Edge controller over USB hidraw
KERNEL=="hidraw*", ATTRS{idVendor}=="054c", ATTRS{idProduct}=="0df2", MODE="0660", TAG+="uaccess"  SYMLINK+="input/ps5"

To put the changes into effect, run

sudo udevadm control --reload-rules
sudo udevadm trigger

Via Bluetooth (optional)

Do the following to set up access to the PS5 controller for teleoperation:

sudo nano /etc/udev/rules.d/70-ps5-controller.rules

and then paste in the following:

# ref.: https://boilingsteam.com/the-dualsense-is-making-even-more-sense/
# PS5 DualSense controller over bluetooth hidraw
KERNEL=="hidraw*", KERNELS=="*054C:0CE6*", MODE="0660", TAG+="uaccess"  SYMLINK+="input/ps5"
# PS5 DualSense Edge controller over bluetooth hidraw
KERNEL=="hidraw*", KERNELS=="*054C:0DF2*", MODE="0660", TAG+="uaccess"  SYMLINK+="input/ps5"

To put the changes into effect, run

sudo udevadm control --reload-rules
sudo udevadm trigger

Pairing can be accomplished in the terminal with the following commands.

Find the computer’s Bluetooth device using the command.

hcitool dev

This will return a Bluetooth device name and a MAC address. To find Bluetooth devices in range, run

hcitool -i <dev_name> scan

where dev_name is likely hci0. The PlayStation 5 DualSense will be called DualSense Wireless Controller. Note the MAC address for this device, and then trust and connect to the device using the following commands:

bluetoothctl  # enters you into some terminal environment
trust <<MAC_address>>
connect <<MAC_address>>

Fort Robotics controller

As an alternative to the PS5 controller, the Fort Robotics Wireless Controller (FRWC) provides a parallel interface.

sudo nano /etc/udev/rules.d/99-fort-wrc.rules

and then paste in the following:

KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="2a99", ATTRS{idProduct}=="c011", MODE="0666", TAG+="uaccess", SYMLINK+="input/fort"

To put the changes into effect, run

sudo udevadm control --reload-rules
sudo udevadm trigger

You will also need to install the dedicated package to interface with the Fort Controller.

cd ~/Downloads
git clone git@github.com:SPROUT-MITLL/fort_scm_py3.git
cd fort_scm_py3
bash build.sh
cd dist
python3 -m pip install <<NAME OF WHL FILE>>

Some useful USB commands

lsusb allows you to see connected USB devices. To figure out where a device is connected, run lsusb without the device plugged in, and then plug in the device and run again.

usb-devices lists all of the USB devices with more information including the vendor ID and product ID which are needed for creating symbolic links to the device.

dmesg | less and then hitting / and searching for keywords (like the product ID or vendor ID) can also be useful.

sudo udevadm info --name=<device_name> --attribute-walk where <device_name> is the location of your device on the system (e.g., /dev/input/js0). You can also append | less to the end of this command to search for the idVendor or idProduct.