数梅派连接arduino出现Permission denied: '/dev/ttyUSB0'错误解决

最新推荐文章于 2025-06-27 09:53:24 发布

康de哥

最新推荐文章于 2025-06-27 09:53:24 发布

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分类专栏： ROS 文章标签： ROS 树梅派 arduino

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本文记录了在使用ROS与Arduino进行交互过程中遇到的权限错误问题，并详细介绍了如何通过修改用户组设置来解决串口访问权限受限的情况，最终成功启动ROS节点。

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全部错误信息：

pi@pi:~$ roslaunch ros_arduino_python arduino.launch
... logging to /home/pi/.ros/log/21167e0a-74bf-11e7-b0e3-b827ebc62e10/roslaunch-pi-5106.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://pi.local:44455/

SUMMARY
========

PARAMETERS
 * /arduino/accel_limit: 0.2
 * /arduino/base_controller_rate: 10
 * /arduino/base_frame: base_link
 * /arduino/baud: 115200
 * /arduino/encoder_resolution: 52
 * /arduino/gear_reduction: 30.0
 * /arduino/left_Kd: 24
 * /arduino/left_Ki: 0
 * /arduino/left_Ko: 100
 * /arduino/left_Kp: 20
 * /arduino/motors_reversed: False
 * /arduino/port: /dev/ttyUSB0
 * /arduino/rate: 50
 * /arduino/right_Kd: 24
 * /arduino/right_Ki: 0
 * /arduino/right_Ko: 100
 * /arduino/right_Kp: 17
 * /arduino/sensorstate_rate: 10
 * /arduino/timeout: 0.1
 * /arduino/use_base_controller: True
 * /arduino/wheel_diameter: 0.068
 * /arduino/wheel_track: 0.287
 * /rosdistro: kinetic
 * /rosversion: 1.12.6

NODES
  /
    arduino (ros_arduino_python/arduino_node.py)

auto-starting new master
process[master]: started with pid [5129]
ROS_MASTER_URI=http://pi.local:11311

setting /run_id to 21167e0a-74bf-11e7-b0e3-b827ebc62e10
process[rosout-1]: started with pid [5142]
started core service [/rosout]
process[arduino-2]: started with pid [5145]
Connecting to Arduino on port /dev/ttyUSB0 ...
Serial Exception:
(<class 'serial.serialutil.SerialException'>, SerialException(13, "could not open port /dev/ttyUSB0: [Errno 13] Permission denied: '/dev/ttyUSB0'"), <traceback object at 0x75608328>)
Traceback follows:
Traceback (most recent call last):
  File "/home/pi/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/arduino_driver.py", line 65, in connect
    self.port = Serial(port=self.port, baudrate=self.baudrate, timeout=self.timeout, writeTimeout=self.writeTimeout)
  File "/usr/lib/python2.7/dist-packages/serial/serialutil.py", line 180, in __init__
    self.open()
  File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", line 294, in open
    raise SerialException(msg.errno, "could not open port %s: %s" % (self._port, msg))
SerialException: [Errno 13] could not open port /dev/ttyUSB0: [Errno 13] Permission denied: '/dev/ttyUSB0'
Cannot connect to Arduino!
[arduino-2] process has died [pid 5145, exit code 1, cmd /home/pi/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/nodes/arduino_node.py __name:=arduino __log:=/home/pi/.ros/log/21167e0a-74bf-11e7-b0e3-b827ebc62e10/arduino-2.log].
log file: /home/pi/.ros/log/21167e0a-74bf-11e7-b0e3-b827ebc62e10/arduino-2*.log

主要错误信息：

SerialException: [Errno 13] could not open port /dev/ttyUSB0: [Errno 13] Permission denied: '/dev/ttyUSB0'
Cannot connect to Arduino!

终端输入：

sudo usermod -a -G dialout pi

重新插拔usb后，再次运行

pi@pi:~$ roslaunch ros_arduino_python arduino.launch
... logging to /home/pi/.ros/log/2761f1ee-74c0-11e7-b0e3-b827ebc62e10/roslaunch-pi-5440.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://pi.local:37379/

SUMMARY
========

PARAMETERS
 * /arduino/accel_limit: 0.2
 * /arduino/base_controller_rate: 10
 * /arduino/base_frame: base_link
 * /arduino/baud: 115200
 * /arduino/encoder_resolution: 52
 * /arduino/gear_reduction: 30.0
 * /arduino/left_Kd: 24
 * /arduino/left_Ki: 0
 * /arduino/left_Ko: 100
 * /arduino/left_Kp: 20
 * /arduino/motors_reversed: False
 * /arduino/port: /dev/ttyUSB0
 * /arduino/rate: 50
 * /arduino/right_Kd: 24
 * /arduino/right_Ki: 0
 * /arduino/right_Ko: 100
 * /arduino/right_Kp: 17
 * /arduino/sensorstate_rate: 10
 * /arduino/timeout: 0.1
 * /arduino/use_base_controller: True
 * /arduino/wheel_diameter: 0.068
 * /arduino/wheel_track: 0.287
 * /rosdistro: kinetic
 * /rosversion: 1.12.6

NODES
  /
    arduino (ros_arduino_python/arduino_node.py)

auto-starting new master
process[master]: started with pid [5451]
ROS_MASTER_URI=http://pi.local:11311

setting /run_id to 2761f1ee-74c0-11e7-b0e3-b827ebc62e10
process[rosout-1]: started with pid [5464]
started core service [/rosout]
process[arduino-2]: started with pid [5481]
Connecting to Arduino on port /dev/ttyUSB0 ...
Connected at 115200
Arduino is ready.
[INFO] [1501375438.888724]: Connected to Arduino on port /dev/ttyUSB0 at 115200 baud
Updating PID parameters
Updating PID parameters
[INFO] [1501375439.043502]: Started base controller for a base of 0.287m wide with 52 ticks per rev
[INFO] [1501375439.045340]: Publishing odometry data at: 10.0 Hz using base_link as base frame