Clone the udev rules of clearpath.

Branch: main
Reference: https://github.com/clearpathrobotics/clearpath_robot/blob/17d55f1b27d3fe19fb82e7df64dca96dbd345837/clearpath_robot/debian/udev

husky_ws/udev_rules/41-clearpath.rules

@@ -0,0 +1,23 @@
+# Udev rule for the Prolific Serial-to-USB adapter shipped standard with Clearpath Husky A200
+SUBSYSTEMS=="usb", ATTRS{manufacturer}=="Prolific*", SYMLINK+="clearpath/prolific clearpath/prolific_$attr{devpath}", MODE="0666"
+
+# World-writeable permissions for the STM32 ROM bootloader.
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
+
+# World-writeable permissions and a symlink for the Jackal J100 MCU.
+SUBSYSTEM=="tty", ATTRS{idProduct}=="5740", ATTRS{idVendor}=="0483", MODE="0666", SYMLINK="clearpath/j100"
+
+# Recognize Clearpath flavoured FTDI cables.
+SUBSYSTEM=="tty", ATTRS{idProduct}=="6001", ATTRS{idVendor}=="0403", ATTRS{product}=="Clearpath Robotics /*", MODE="0666", PROGRAM="/bin/echo '%s{product}'", SYMLINK+="clearpath%c{3}"
+
+# Rule to enable low latency mode for FTDI adaptors, regardless if flavoured or not.
+SUBSYSTEM=="tty", KERNEL=="ttyUSB[0-9]*", ATTRS{idProduct}=="6001", ATTRS{idVendor}=="0403", MODE="0666", RUN+="/bin/bash -c 'echo 1 > /sys$devpath/device/latency_timer'", SYMLINK+="ftdi_%s{serial}"
+
+# Udev rule for the Logitech controllers
+KERNEL=="js*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21f", SYMLINK+="input/f710"
+KERNEL=="js*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c219", SYMLINK+="input/f710"
+KERNEL=="js*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21d", SYMLINK+="input/f310"
+
+# CAN rule for PCI CANBUS card
+SUBSYSTEM=="net", KERNEL == "can0", RUN+="/bin/sh -c 'ip link set can0 type can bitrate 1000000; ip link set can0 up'"
+SUBSYSTEM=="net", KERNEL == "can1", RUN+="/bin/sh -c 'ip link set can1 type can bitrate 500000;  ip link set can1 up'"