Configure Sensors
The serial ports for the lidar and the Teensy board are defined using its static names on the roslaunch files. In order for the serial ports to be remembered and linked to its static names, a uDev rule must be created (except for Kinect and RealSense). Run Linorobot's uDev tool on the robot's computer:
NOTE: lidar instructions are NOT UPDATED
rosrun lino_udev lino_udev.py
Plug in the Teensy board and key in "linobase". Do the same thing for the lidar and name it as "linolidar". Save your uDev rules by pressing CTRL+C.
Copy the saved udev rules to /etc/udev/rules.d:
sudo cp 58-lino.rules /etc/udev/rules.d/58-lino.rules
Restart udev:
sudo service udev reload && sudo service udev restart
Confirm if the uDev rules worked:
ls /dev/linobase
ls /dev/linolidar
If the serial ports cannot be detected, restart the robot's computer and check again. Take note that freshly shipped Teensy boards has to be be programmed once before you can see its ports. Proceed to Base Controller to upload the firmware.
