ros底盘控制器和雷达的串口号别名问题（UDEV规则写串口别名）

5月18日第一次修改

注：本次修改之后对于原来的问题（雷达和控制器插口的先后顺序问题）是解决了，但是对于两个usb口我发现是锁定下来的（就是这个usB口只能插雷达，那个usb口只能插控制器），希望有朋友可以解决这个问题可以评论告诉我一下。

---------------------------------------------------------------------------------------------------------------------------------------------------------------------

参考：https://blog.youkuaiyun.com/zong596568821xp/article/details/78579734

在第一次启动时启动minimal.launch文件之后结果如下

s@s-Aspire-E5-572G:/opt/ros/kinetic/share/turtlebot_bringup/launch$ roslaunch turtlebot_bringup minimal.launch 
... logging to /home/s/.ros/log/046d0be2-78a6-11e9-a830-3052cb515e69/roslaunch-s-Aspire-E5-572G-22512.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://s-Aspire-E5-572G:33611/

SUMMARY
========

PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /opt/ros/kinetic/...
 * /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
 * /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
 * /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
 * /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
 * /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
 * /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
 * /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
 * /diagnostic_aggregator/analyzers/power/path: Power System
 * /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/power/timeout: 5.0
 * /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
 * /diagnostic_aggregator/analyzers/sensors/path: Sensors
 * /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
 * /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /mobile_base/base_frame: base_footprint
 * /mobile_base/battery_capacity: 16.5