Suraj R surajRathi

To use devices inside your nspawn container do:

Edit systemd-nspawn@<machine_name>.service and add a line like the below

DeviceAllow="/dev/serial/by-id/usb-Roboteq_Motor_Controller_SDC2XXX-if00 rwm"
DeviceAllow=char-ttyACM rwm
DeviceAllow=char-usb_device rwm
DeviceAllow=ttyACM rwm

To see valid device types do:

From the USB/IP site:

USB/IP Project aims to develop a general USB device sharing system over IP network. To share USB devices between computers with their full functionality, USB/IP encapsulates "USB I/O messages" into TCP/IP payloads and transmits them between computers. Goes without saying, make sure host and client are on the same network.

Host Setup

Install usbip package

	import numpy as np

	import serial

	import matplotlib.pyplot as plt


	def parse_line(line):
	try:
	line = bytes([b for b in line if b != 0]).decode('ascii').strip()

	#! /usr/bin/python3
	from time import sleep

	import matplotlib.pyplot as plt
	import numpy as np
	from matplotlib.axes import Axes
	from matplotlib.figure import Figure
	from matplotlib.lines import Line2D

	<table id='m_-3490595658229054110u_body'
	style='border-collapse:collapse;table-layout:fixed;border-spacing:0;vertical-align:top;min-width:320px;Margin:0 auto;background-color:#eff4ff;width:100%'
	cellpadding='0' cellspacing='0'>
	<tbody>
	<tr>
	<td
	style='display:none!important;font-size:1px;color:#ffffff;line-height:1px;max-height:0px;max-width:0px;opacity:0;overflow:hidden'>
	Do you have what it takes to build India's first Driverless Campus Shuttle
	</td>
	</tr>

	cmake_minimum_required(VERSION 3.0.2)
	project(virat_msgs)

	add_compile_options(-std=c++11)

	find_package(catkin REQUIRED
	roscpp
	rospy
	std_msgs
	message_generation

	HISTSIZE=10000000
	SAVEHIST=10000000
	# setopt BANG_HIST # Treat the '!' character specially during expansion.
	setopt EXTENDED_HISTORY # Write the history file in the ":start:elapsed;command" format.
	setopt INC_APPEND_HISTORY # Write to the history file immediately, not when the shell exits.
	setopt SHARE_HISTORY # Share history between all sessions.
	setopt HIST_EXPIRE_DUPS_FIRST # Expire duplicate entries first when trimming history.
	setopt HIST_IGNORE_DUPS # Don't record an entry that was just recorded again.
	setopt HIST_IGNORE_ALL_DUPS # Delete old recorded entry if new entry is a duplicate.
	setopt HIST_FIND_NO_DUPS # Do not display a line previously found.

	export XDG_CONFIG_HOME=$HOME/.config
	# HISTFILE="$HOME/.zsh_history"
	HISTSIZE=10000000
	SAVEHIST=10000000
	# setopt BANG_HIST # Treat the '!' character specially during expansion.
	setopt EXTENDED_HISTORY # Write the history file in the ":start:elapsed;command" format.
	setopt INC_APPEND_HISTORY # Write to the history file immediately, not when the shell exits.
	setopt SHARE_HISTORY # Share history between all sessions.
	setopt HIST_EXPIRE_DUPS_FIRST # Expire duplicate entries first when trimming history.
	setopt HIST_IGNORE_DUPS # Don't record an entry that was just recorded again.

	<launch>
	<node name="sbg_device" pkg="sbg_driver" type="sbg_device" output="screen">
	<rosparam command="load" file="/home/suraj/ws/tmp/sbg/sbg.yaml" />
	</node>
	</launch>