problems with communicating kvh gyro

[wchen38]

I am working with ubuntu 14.04 and indigo on the Husky Robot. I am trying to communicate with the kvh dsp3000 gyro. Downloaded the packages from the master branch. compiles and builds successfully. Now, I plugged in the gyro to the robot PC and checked that there is /dev/clearpath/fog path on my system, then I ran roslaunch kvh dsp3000.launch and it gave me the following error.

~/catkin_ws$ roslaunch kvh dsp3000.launch 
... logging to /home/administrator/.ros/log/3a32e428-5579-11e8-b31d-c986401ef8c9/roslaunch-dhcp-59-208-2780.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dhcp-59-208:55395/

SUMMARY
========

PARAMETERS
 * /dsp3000/port: /dev/clearpath/fog
 * /rosdistro: indigo
 * /rosversion: 1.11.13

NODES
  /
    dsp3000 (kvh/dsp3000)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[dsp3000-1]: started with pid [2798]
[ERROR] [1526084024.469802151]: buffer filled without end of line being found (in SerialPort::readLine)

I was wondering if you know anything about this error?
Thank you.

[jeff-o]

Do you have a udev rule installed which creates that symlink in /dev/clearpath? If not, you should add one or point the driver at the actual port where the KVH is connected.

…

Sent from my pocket computer

On May 11, 2018, at 8:26 PM, frodyteen ***@***.***> wrote: I am working with ubuntu 14.04 and indigo on the Husky Robot. I am trying to communicate with the kvh dsp3000 gyro. Downloaded the packages from the master branch. compiles and builds successfully. Now, after I plugged in the gyro to my computer, I checked that there is /dev/clearpath/fog path on my system, then I ran roslaunch kvh dsp3000.launch and it gave me the following error. ~/catkin_ws$ roslaunch kvh dsp3000.launch ... logging to /home/administrator/.ros/log/3a32e428-5579-11e8-b31d-c986401ef8c9/roslaunch-dhcp-59-208-2780.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://dhcp-59-208:55395/ SUMMARY ======== PARAMETERS * /dsp3000/port: /dev/clearpath/fog * /rosdistro: indigo * /rosversion: 1.11.13 NODES / dsp3000 (kvh/dsp3000) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[dsp3000-1]: started with pid [2798] [ERROR] [1526084024.469802151]: buffer filled without end of line being found (in SerialPort::readLine) I was wondering if you know anything about this error? Thank you. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or mute the thread.

[wchen38]

I'm not too familiar with udev, but I will look more into it.
When you say

point the driver at the actual port where the KVH is connected.

Do you mean change the launch file's value="$(arg port) attribute to the device path of the kvh usb?
In my case, when I plug in kvh, and i do ls /dev/ , then a new path shows up:/dev/ttyUSB2.

[jeff-o]

Yup! So if the KVH is connected to ttyUSB2, you would point the launch file at that port. However, you'll probably have to grant permission to access that port. You can do so temporarily using: Sudo chmod 666 /dev/ttyUSB2 Eventually you'll want to use a udev rule to scan for a unique attribute of your USB to serial adapter (say, product ID and manufacturer ID) and then create a symlink with full permissions. Then you can point your launch file at that symlink.

…

On May 11, 2018, at 8:53 PM, frodyteen ***@***.***> wrote: I'm not too familiar with udev, and I will look more into it. When you say point the driver at the actual port where the KVH is connected. Do you mean change the launch file's value="$(arg port) attribute to the device path of the kvh usb? In my case, when I plug in kvh, and i do ls /dev/ , then a new path shows up:/dev/ttyUSB2. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

[gavanderhoorn]

@jeff-o wrote:

Eventually you'll want to use a udev rule to scan for a unique attribute of your USB to serial adapter (say, product ID and manufacturer ID) and then create a symlink with full permissions.

For serial ports, adding your (Linux) user to the dialout group typically suffices.

[jeff-o]

True! Though I do prefer using symlinks because a particular USB device won't always connect to the same "ttyUSB#" port every time the computer boots up. A symlink guarantees the device is always accessible at a known port.

…

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On May 12, 2018, at 4:24 AM, G.A. vd. Hoorn ***@***.***> wrote: @jeff-o wrote: Eventually you'll want to use a udev rule to scan for a unique attribute of your USB to serial adapter (say, product ID and manufacturer ID) and then create a symlink with full permissions. For serial ports, adding your (Linux) user to the dialout group typically suffices. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

[wchen38]

So, I tried to change the launch file value="$(arg port) to value=/dev/ttyUSB1, but I would still get the same error when I run roslaunch kvh dsp3000.

Also, I think there is already an existing clearpath rule under /etc/udev/rules.d shown below:
$: ls /etc/udev/rules.d/
10-microstrain.rules 41-hokuyo.rules 70-persistent-net.rules
41-clearpath.rules 52-ftdi.rules README
Following is the content of the file:

$: cat 41-clearpath.rules
# Recognize our 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}"

I checked the ttyUSB1 info to make sure it matches with the clearpath rule, shown below:

:/etc/udev/rules.d$ udevadm info /dev/ttyUSB1
P: /devices/pci0000:00/0000:00:1a.0/usb1/1-1/1-1.1/1-1.1:1.0/ttyUSB1/tty/ttyUSB1
N: ttyUSB1
S: clearpath/fog
S: ftdi_FTVIQRP1
S: serial/by-id/usb-FTDI_Clearpath_Robotics__fog_FTVIQRP1-if00-port0
S: serial/by-path/pci-0000:00:1a.0-usb-0:1.1:1.0-port0
E: DEVLINKS=/dev/clearpath/fog /dev/ftdi_FTVIQRP1 /dev/serial/by-id/usb-FTDI_Clearpath_Robotics__fog_FTVIQRP1-if00-port0 /dev/serial/by-path/pci-0000:00:1a.0-usb-0:1.1:1.0-port0
E: DEVNAME=/dev/ttyUSB1
E: DEVPATH=/devices/pci0000:00/0000:00:1a.0/usb1/1-1/1-1.1/1-1.1:1.0/ttyUSB1/tty/ttyUSB1
E: ID_BUS=usb
E: ID_MM_CANDIDATE=1
E: ID_MODEL=Clearpath_Robotics__fog
E: ID_MODEL_ENC=Clearpath\x20Robotics\x20\x2ffog
E: ID_MODEL_FROM_DATABASE=FT232 USB-Serial (UART) IC
E: ID_MODEL_ID=6001
E: ID_PATH=pci-0000:00:1a.0-usb-0:1.1:1.0
E: ID_PATH_TAG=pci-0000_00_1a_0-usb-0_1_1_1_0
E: ID_REVISION=0600
E: ID_SERIAL=FTDI_Clearpath_Robotics__fog_FTVIQRP1
E: ID_SERIAL_SHORT=FTVIQRP1
E: ID_TYPE=generic
E: ID_USB_DRIVER=ftdi_sio
E: ID_USB_INTERFACES=:ffffff:
E: ID_USB_INTERFACE_NUM=00
E: ID_VENDOR=FTDI
E: ID_VENDOR_ENC=FTDI
E: ID_VENDOR_FROM_DATABASE=Future Technology Devices International, Ltd
E: ID_VENDOR_ID=0403
E: MAJOR=188
E: MINOR=1
E: SUBSYSTEM=tty
E: USEC_INITIALIZED=5901287

Do you guys have any more suggestions on what I should do?
Thank you. @jeff-o @gavanderhoorn

[jeff-o]

Can you access the device directly using picocom? sudo picocom /dev/ttyUSB1

…

On May 14, 2018, at 9:30 PM, frodyteen ***@***.***> wrote: So, I tried to change the launch file value="$(arg port) to value=/dev/ttyUSB1, but I would still get the same error when I run roslaunch kvh dsp3000. Also, I think there is already an existing clearpath rule under /etc/udev/rules.d shown below: $: ls /etc/udev/rules.d/ 10-microstrain.rules 41-hokuyo.rules 70-persistent-net.rules 41-clearpath.rules 52-ftdi.rules README Following is the content of the file: $: cat 41-clearpath.rules # Recognize our flavoured FTDI cables. SUBSYSTEM=="tty", ATTRS{idProduct}=="6001", ATTRS{idVendor}=="0403", ATTRS{product}=="Clearpath Robotics /*", MODE="0666", PROGRAM="/bin/echo '%s{product}'", SYMLINK+="clearpath%c{3}" I checked the ttyUSB1 info to make sure it matches with the clearpath rule, shown below: :/etc/udev/rules.d$ udevadm info /dev/ttyUSB1 P: /devices/pci0000:00/0000:00:1a.0/usb1/1-1/1-1.1/1-1.1:1.0/ttyUSB1/tty/ttyUSB1 N: ttyUSB1 S: clearpath/fog S: ftdi_FTVIQRP1 S: serial/by-id/usb-FTDI_Clearpath_Robotics__fog_FTVIQRP1-if00-port0 S: serial/by-path/pci-0000:00:1a.0-usb-0:1.1:1.0-port0 E: DEVLINKS=/dev/clearpath/fog /dev/ftdi_FTVIQRP1 /dev/serial/by-id/usb-FTDI_Clearpath_Robotics__fog_FTVIQRP1-if00-port0 /dev/serial/by-path/pci-0000:00:1a.0-usb-0:1.1:1.0-port0 E: DEVNAME=/dev/ttyUSB1 E: DEVPATH=/devices/pci0000:00/0000:00:1a.0/usb1/1-1/1-1.1/1-1.1:1.0/ttyUSB1/tty/ttyUSB1 E: ID_BUS=usb E: ID_MM_CANDIDATE=1 E: ID_MODEL=Clearpath_Robotics__fog E: ID_MODEL_ENC=Clearpath\x20Robotics\x20\x2ffog E: ID_MODEL_FROM_DATABASE=FT232 USB-Serial (UART) IC E: ID_MODEL_ID=6001 E: ID_PATH=pci-0000:00:1a.0-usb-0:1.1:1.0 E: ID_PATH_TAG=pci-0000_00_1a_0-usb-0_1_1_1_0 E: ID_REVISION=0600 E: ID_SERIAL=FTDI_Clearpath_Robotics__fog_FTVIQRP1 E: ID_SERIAL_SHORT=FTVIQRP1 E: ID_TYPE=generic E: ID_USB_DRIVER=ftdi_sio E: ID_USB_INTERFACES=:ffffff: E: ID_USB_INTERFACE_NUM=00 E: ID_VENDOR=FTDI E: ID_VENDOR_ENC=FTDI E: ID_VENDOR_FROM_DATABASE=Future Technology Devices International, Ltd E: ID_VENDOR_ID=0403 E: MAJOR=188 E: MINOR=1 E: SUBSYSTEM=tty E: USEC_INITIALIZED=5901287 Do you guys have any more suggestions on what I should do? Thank you. @jeff-o @gavanderhoorn — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

[wchen38]

picocom v1.7

port is        : /dev/clearpath/fog
flowcontrol    : none
baudrate is    : 9600
parity is      : none
databits are   : 8
escape is      : C-a
local echo is  : no
noinit is      : no
noreset is     : no
nolock is      : no
send_cmd is    : sz -vv
receive_cmd is : rz -vv
imap is        : 
omap is        : 
emap is        : crcrlf,delbs,

Terminal ready
������?����w���;��f����?��;���w���~;��������;���

after terminal reday , it displays random texts and squares continuously, can't even stop with ctrl c or z.

[geoffviola]

can you try each of the following

sudo picocom -b 38400 /dev/ttyUSB1
picocom -b 38400 /dev/ttyUSB1
picocom -b 38400 /dev/clearpath/fog

Does any of that work?

[jeff-o]

Oh, and to exit from picocom its control-a then control-q.

…

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On May 15, 2018, at 12:48 AM, geoffviola ***@***.***> wrote: can you try each of the following sudo picocom -b 38400 /dev/ttyUSB1 picocom -b 38400 /dev/ttyUSB1 picocom -b 38400 /dev/clearpath/fog Does any of that work? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

[wchen38]

oaky, so I tried both:
sudo picocom -b 38400 /dev/ttyUSB1
picocom -b 38400 /dev/clearpath/fog
and got an output of following:

:~/catkin_ws$ picocom -b 38400 /dev/ttyUSB1
picocom v1.7

port is        : /dev/ttyUSB1
flowcontrol    : none
baudrate is    : 38400
parity is      : none
databits are   : 8
escape is      : C-a
local echo is  : no
noinit is      : no
noreset is     : no
nolock is      : no
send_cmd is    : sz -vv
receive_cmd is : rz -vv
imap is        : 
omap is        : 
emap is        : crcrlf,delbs,

Terminal ready
;� 1
      -0.014254   1
       0.003008   1
       0.002845   1
      -0.006517   1
       0.008400   1


...
...
...
*** local echo: yes ***
-0.001415   1
      -0.008012   1
       0.001269   1
       0.006026   1
      -0.004343   1

output from /dev/clearpath/fog:

:~/catkin_ws$ sudo picocom -b 38400 /dev/clearpath/fog
picocom v1.7

port is        : /dev/clearpath/fog
flowcontrol    : none
baudrate is    : 38400
parity is      : none
databits are   : 8
escape is      : C-a
local echo is  : no
noinit is      : no
noreset is     : no
nolock is      : no
send_cmd is    : sz -vv
receive_cmd is : rz -vv
imap is        : 
omap is        : 
emap is        : crcrlf,delbs,

Terminal ready
��       0.006879   1
      -0.015192   1
      -0.007644   1
       0.001754   1
      -0.015353   1
       0.012795   1
       0.002579   1
       0.017074   1
       0.005624   1
       0.018473   1

[jeff-o]

OK, so the device is communicating just fine. Something is tripping up the serial communications though. Is it a newer device? Perhaps its data format has changed ever so slightly since the driver was last tested?

[wchen38]

Here is a picture of the gyro, it is a few years old. Can you point to me where I should check for the data format?

I'm not sure if this is important, but I notice that when I checked the baud rate of clearpath/fog and ttyUSB1, it gave me 9600, somehow when I did picocom with -b 9600, it doesn't give me any output.

stty -F /dev/clearpath/fog
speed 9600 baud; line = 0;
-brkint -imaxbel

[mikepurvis]

Maybe dig into the SerialPort::readLine implementation to understand what it is that's in the buffer that apparently doesn't contain a newline?

[wchen38]

Okay, I will look more into it. I realized, even with the error, readLine error. I am still able to display data using rostopic echo, shown below:

0:~$ rostopic echo /dsp3000_rate
data: -5.18188280694e-05
---
data: -0.000160832089023
---
data: -0.000218462868361
---
data: -4.92008366564e-05
---
data: 5.09112542204e-05
---
data: -4.3458705477e-05
---
data: -0.000118280964671
---
data: -5.68628274777e-05
---
data: -9.15076161618e-05
---
data: 0.000239494096604
---
data: -6.66017658659e-05
---
data: 0.000195494329091
---
data: 0.000112172310764
---
data: -1.25314636534e-05
---
data: 0.000118577678222
---
data: -3.66519157069e-06
---

[mikepurvis]

Are you certain that there isn't something else running on that computer? Check for processes which have the port open like so:

sudo lsof | grep ttyUSB

[wchen38]

:~$ sudo lsof | grep ttyUSB
lsof: WARNING: can't stat() fuse.gvfsd-fuse file system /run/user/107/gvfs
      Output information may be incomplete.
husky_nod 1356      administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
husky_nod 1356 1492 administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
husky_nod 1356 1493 administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
husky_nod 1356 1494 administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
husky_nod 1356 1535 administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
husky_nod 1356 1729 administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
husky_nod 1356 1730 administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
husky_nod 1356 1813 administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
husky_nod 1356 1861 administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
husky_nod 1356 1863 administrator    9u      CHR              188,0      0t0      11448 /dev/ttyUSB0
dsp3000   3016      administrator    9uW     CHR              188,1      0t0      16538 /dev/ttyUSB1
dsp3000   3016 3022 administrator    9uW     CHR              188,1      0t0      16538 /dev/ttyUSB1
dsp3000   3016 3023 administrator    9uW     CHR              188,1      0t0      16538 /dev/ttyUSB1
dsp3000   3016 3024 administrator    9uW     CHR              188,1      0t0      16538 /dev/ttyUSB1
dsp3000   3016 3029 administrator    9uW     CHR              188,1      0t0      16538 /dev/ttyUSB1

ttyUSB1 shows up when I run the dsp3000 node

[geoffviola]

There may be an innocuous error printed to screen. I remember there being some tricky serial port behavior.