It's recommended to clone and build these repos in their own repo that is used solely for dependencies and kept seperate from packages under development.
- forks of urdf urdfdom and urdfdom headers - adds parsing for sensor tag
- tactile_filters
- tactile_toolbox - messages and other tools
- agni_serial_protocol - sensor drivers
- agni_robots - myrmex robot description files
For automated cloning and building of the dependencies into ./dependencies_ws run setup_dependencies.sh (requires vcstool).
Create sudo vim /etc/udev/rules.d/99-myrmex.rules and insert
SUBSYSTEM=="usb", ATTRS{idVendor}=="04d8", ATTRS{idProduct}=="000a", ATTRS{product}=="TactileModuleV2-B002", GROUP="dialout", SYMLINK+="myrmex02"
SUBSYSTEM=="usb", ATTRS{idVendor}=="04d8", ATTRS{idProduct}=="000a", ATTRS{product}=="TactileModuleV2-B003", GROUP="dialout", SYMLINK+="myrmex03"
SUBSYSTEM=="usb", ATTRS{idVendor}=="04d8", ATTRS{idProduct}=="000a", ATTRS{product}=="TactileModuleV2-B012", GROUP="dialout", SYMLINK+="myrmex12"
SUBSYSTEM=="usb", ATTRS{idVendor}=="04d8", ATTRS{idProduct}=="000a", ATTRS{product}=="TactileModuleV2-B013", GROUP="dialout", SYMLINK+="myrmex13"
OR (USB-port specific):
SUBSYSTEMS=="usb", KERNELS=="3-4:1.0", GROUP="dialout", SYMLINK+="myrmexR"
SUBSYSTEMS=="usb", KERNELS=="3-5:1.0", GROUP="dialout", SYMLINK+="myrmexL"
where KERNELS can be obtained through udevadm info -a /dev/ttyACM0.
Reload udev rules using sudo udevadm control --reload-rules && udevadm trigger