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This package provides tools for factory-flashing the FTDI usb-to-serial device on a kobuki or for troubleshooting thereafter.
It is not a necessary dependency for actually running a kobuki.
How it Works
Kobuki's FTDI chip is flashed with a special identifier that allows programs
to uniquely identify the device as a kobuki. This in turn allows for udev rules
that conveniently establish it's presence in a *nix filesystem under
Is it just Working?
Does kobuki appear as USB device?
> lsusb 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC
Do you see it in
dmesg when you insert the usb cable?
> dmesg [ 118.984126] usb 3-1: new full-speed USB device number 5 using xhci_hcd [ 119.139253] usb 3-1: New USB device found, idVendor=0403, idProduct=6001 [ 119.139257] usb 3-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3 [ 119.139259] usb 3-1: Product: iClebo Kobuki [ 119.139261] usb 3-1: Manufacturer: Yujin Robot [ 119.139263] usb 3-1: SerialNumber: kobuki_A505QO28 [ 119.150240] usbcore: registered new interface driver usbserial_generic [ 119.150249] usbserial: USB Serial support registered for generic [ 119.152383] usbcore: registered new interface driver ftdi_sio [ 119.152403] usbserial: USB Serial support registered for FTDI USB Serial Device [ 119.152505] ftdi_sio 3-1:1.0: FTDI USB Serial Device converter detected [ 119.152530] usb 3-1: Detected FT232RL [ 119.152665] usb 3-1: FTDI USB Serial Device converter now attached to ttyUSB0
and when you remove it?
[ 184.386124] usb 3-1: USB disconnect, device number 5 [ 184.386507] ftdi_sio ttyUSB0: FTDI USB Serial Device converter now disconnected from ttyUSB0 [ 184.386547] ftdi_sio 3-1:1.0: device disconnected
Get the serial number:
> sudo <install_path>/lib/kobuki_ftdi/get_serial_number 1 device(s) found. Device #0 Manufacturer : Yujin Robot Product : iClebo Kobuki Serial Number: kobuki_A505QO28
# copy across udev rules > sudo cp 60-kobuki.rules /etc/udev/rules.d > sudo service udev reload > sudo service udev restart
- Does kobuki stream data?
Check if anything is streaming - even when you don't have a program explicitly connected, you should see a stream of unusual characters.
> cat /dev/kobuki
If you don't have any streaming, check that your kernel has the ftdi_sio kernel driver built. Refer to https://github.com/yujinrobot/kobuki_core/issues/24 for more discussion.
- Everything seems fine, yet I still can't get the kobuki driver to communicate with it. You may not be in the correct group:
> sudo addgroup $(USER) dialout
Flashing the Device
Only do this if you are at the factory or you are very certain it is necessary. This should rarely need to be done outside of the factory.
# Flash > sudo <install_location>/lib/kobuki_ftdi/flasher # Check the serial number again > sudo <install_path>/lib/kobuki_ftdi/get_serial_number 1 device(s) found. Device #0 Manufacturer : Yujin Robot Product : iClebo Kobuki Serial Number: kobuki_A505QO28