From c23da0257369a379d62634301ddd536120481747 Mon Sep 17 00:00:00 2001
From: Alastair <albradford2468@gmail.com>
Date: Mon, 1 Jan 2024 19:38:03 +1000
Subject: [PATCH] Fix USB register on boot

---
 docker/docker-compose.yml                  | 2 +-
 src/hardware/sensors/config/ellipse_D.yaml | 9 ++++++++-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
index fc3eeb606..74f573043 100644
--- a/docker/docker-compose.yml
+++ b/docker/docker-compose.yml
@@ -15,7 +15,7 @@ x-volumes-roscube: &volumes-roscube
         - ../../datasets:/home/${USERNAME}/driverless_ws/datasets
         # /dev/shm is mounted in so that two foxy containers can talk to each other when using net=host, see: https://answers.ros.org/question/370595/ros2-foxy-nodes-cant-communicate-through-docker-container-border/
         - /dev/shm:/dev/shm
-        - /dev/ttyUSB-sbg:/dev/ttyUSB-sbg
+        - /dev/sbg:/dev/sbg
 
 x-volumes-jetson: &volumes-jetson
     volumes:
diff --git a/src/hardware/sensors/config/ellipse_D.yaml b/src/hardware/sensors/config/ellipse_D.yaml
index c865e1bba..6cfe3237e 100644
--- a/src/hardware/sensors/config/ellipse_D.yaml
+++ b/src/hardware/sensors/config/ellipse_D.yaml
@@ -32,7 +32,14 @@
     # Uart configuration
     uartConf:
       # Port Name
-      portName: "/dev/ttyUSB-sbg"
+      ### IMPORTANT REQUIRES UDEV RULE TO BE CREATED
+      # sudo touch /etc/udev/rules.d/99-sbg_example.rules
+      # sudo nano /etc/udev/rules.d/99-sbg_example.rules
+      # SUBSYSTEMS=="usb", ATTRS{product}=="USB-RS232 Cable", ATTRS{serial}=="SERIAL_HERE", SYMLINK+="sbg"
+      ### Find serial by walking through ttyUSBs
+      # udevadm info --name=/dev/ttyUSB0 --attribute-walk # replace with ttyUSB1... etc until you find the RS232
+
+      portName: "/dev/sbg"
 
       # Baude rate (4800 ,9600 ,19200 ,38400 ,115200 [default],230400 ,460800 ,921600)
       baudRate: 115200