Hi all,
I am configuring a stretch-se3. The first time I was experimenting with it, it all worked fine and smoothly. But now when I was planning to set up a container on it, I added the config device /dev/hello-lrf to my incus container and the output says no hello-lrf device. I then manually tested:
hello-robot@stretch-se3-3126:~$ stretch_rp_lidar_jog.py --motor_on
For use with S T R E T C H (R) from Hello Robot Inc.
RPLidar not present
know that its required for the laser. I even checked my /dev folder whose output is :
autofs drm_dp_aux2 hello-motor-right-wheel i2c-13 kmsg loop2 loop6 mtd0ro ptp0 tpmrm0 tty20 tty34 tty48 tty61 ttyS10 ttyS24 ttyUSB0 vcs5 vcsu6 video5
block drm_dp_aux3 hello-nav-head-camera i2c-14 kvm loop20 loop7 net ptp1 tty tty21 tty35 tty49 tty62 ttyS11 ttyS25 ttyUSB1 vcs6 vfio video6
btrfs-control ecryptfs hello-pimu i2c-15 log loop21 loop8 ng0n1 pts tty0 tty22 tty36 tty5 tty63 ttyS12 ttyS26 udmabuf vcsa vga_arbiter video7
bus fb0 hello-respeaker i2c-2 loop0 loop22 loop9 null random tty1 tty23 tty37 tty50 tty7 ttyS13 ttyS27 uhid vcsa1 vhci video8
char fd hello-wacc i2c-3 loop1 loop23 loop-control nvme0 rfkill tty10 tty24 tty38 tty51 tty8 ttyS14 ttyS28 uinput vcsa2 vhost-net video9
console full hidraw0 i2c-4 loop10 loop24 mapper nvme0n1 rtc tty11 tty25 tty39 tty52 tty9 ttyS15 ttyS29 urandom vcsa3 vhost-vsock vsock
core fuse HID-SENSOR-2000e1.4.auto i2c-5 loop11 loop25 mcelog nvme0n1p1 rtc0 tty12 tty26 tty4 tty53 ttyACM0 ttyS16 ttyS3 usb vcsa4 video0 zero
cpu gpiochip0 hpet i2c-6 loop12 loop26 media0 nvme0n1p2 serial tty13 tty27 tty40 tty54 ttyACM1 ttyS17 ttyS30 userfaultfd vcsa5 video1 zfs
cpu_dma_latency gpiochip1 hugepages i2c-7 loop13 loop27 media1 nvme-fabrics shm tty14 tty28 tty41 tty55 ttyACM2 ttyS18 ttyS31 userio vcsa6 video10
cuse gpiochip2 hwrng i2c-8 loop14 loop28 media2 nvram snapshot tty15 tty29 tty42 tty56 ttyACM3 ttyS19 ttyS4 v4l vcsu video11
disk hello-dynamixel-head i2c-0 i2c-9 loop15 loop29 media3 port snd tty16 tty3 tty43 tty57 ttyACM4 ttyS2 ttyS5 vcs vcsu1 video12
dma_heap hello-dynamixel-wrist i2c-1 iio:device0 loop16 loop3 mei0 ppp stderr tty17 tty30 tty44 tty58 ttyACM5 ttyS20 ttyS6 vcs1 vcsu2 video13
dri hello-motor-arm i2c-10 iio:device1 loop17 loop30 mem pps0 stdin tty18 tty31 tty45 tty59 ttyprintk ttyS21 ttyS7 vcs2 vcsu3 video2
drm_dp_aux0 hello-motor-left-wheel i2c-11 initctl loop18 loop4 mqueue psaux stdout tty19 tty32 tty46 tty6 ttyS0 ttyS22 ttyS8 vcs3 vcsu4 video3
drm_dp_aux1 hello-motor-lift i2c-12 input loop19 loop5 mtd0 ptmx tpm0 tty2 tty33 tty47 tty60 ttyS1 ttyS23 ttyS9 vcs4 vcsu5 video4
After some troubleshooting, i edited the /etc/udev/rules.d/91-hello-lrf.rules and edited the line:
KERNEL==“ttyUSB*”, ATTRS{idVendor}==“10c4”, ATTRS{idProduct}==“ea60”, MODE:=“0777”, SYMLINK+=“hello-lrf”
to
KERNEL==“ttyUSB*”, ATTRS{idVendor}==“0403”, ATTRS{idProduct}==“6001”, MODE:=“0777”, SYMLINK+=“hello-lrf”
and then i reloaded the rules and I could see hello-lrf now and I can run the rp-lidar jog command, but even though when i passed the motor_off, and the output says motor stopping, it still keeps running and when I tried to run the ros2 node to see, it gave this error:
ello-robot@stretch-se3-3126:~/ament_ws$ ros2 launch stretch_core rplidar.launch.py [INFO] [launch]: All log files can be found below /home/hello-robot/.ros/log/2025-11-14-04-05-32-886831-stretch-se3-3126-50940 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [sllidar_node-1]: process started with pid [50958] [INFO] [scan_to_scan_filter_chain-2]: process started with pid [50960] [sllidar_node-1] [INFO] [1763121933.073150539] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.1.0 [scan_to_scan_filter_chain-2] [INFO] [1763121933.080522801] [laser_filter]: In shadow configure done [scan_to_scan_filter_chain-2] [WARN] [1763121933.080618339] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [scan_to_scan_filter_chain-2] [WARN] [1763121933.082039965] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [sllidar_node-1] [ERROR] [1763121935.574549601] [sllidar_node]: Error, operation time out. SL_RESULT_OPERATION_TIMEOUT! [ERROR] [sllidar_node-1]: process has died [pid 50958, exit code 255, cmd ‘/home/hello-robot/ament_ws/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node --ros-args -r __node:=sllidar_node --params-file /tmp/launch_params_gq7gc406’]
So any thoughts and how to troubleshoot this and yead amidst all lidar is spinning continuosly, also homing comamnd works, and before i edited the udev file, even system_check.py gave sensor mididng command but now it doesnt.