<feat> 1. add config option in control_command.yaml to by-pass strict usb 3.0 check, allow connection even if it is slower than usb 3.0

2. add excute permission for build scripts by default

README.md

@@ -16,7 +16,7 @@ This driver package provides core functionality for point cloud SLAM application
 
 ## 1. Version
 
-Current Version: v0.6.0
+Current Version: v0.6.1
 
 ## 2. Preparation
 
@@ -306,6 +306,7 @@ float32 rgb           // RGB value
 
 |control_command.yaml   | Detailed Description |
 |-----------------------|----------------------|
+| strict_usb3.0_check   | Strict USB3.0 check, if off, allow connection even if usb connection is below usb 3.0 |
 | recorddata            | Record data in specific format that can be imported into MindCloud(TM) for post-processing. Please be aware that this will consume a lot of storage space. Testing shows 9.5G for 10mins of data. |
 | devstatuslog          | Device status logging, currently save device status (soc temperature, cpu usage, ram usage, dtof sensor temp .etc) and data tx & rx rate to devstatus.csv under log folder. A new file will be created every time the driver is started. |
 | showcamerapose        | Display Camera Pose and Field of View. |

config/control_command.yaml

@@ -1,22 +1,23 @@
 register_keys:
-  streamctrl: 1         # 0: off; 1: on
-  sendrgb: 1            # 0: off; 1: on
-  sendimu: 1            # 0: off; 1: on
-  sendodom: 1           # 0: off; 1: on
-  senddtof: 1           # 0: off; 1: on
-  sendcloudslam: 1      # 0: off; 1: on
-  sendcloudrender: 1    # 0: off; 1: on
-  sendrgbcompressed: 1  # 0: off; 1: on
-  senddepth: 0          # 0: off; 1: on
-  sendrgbundistort: 0   # 0: off; 1: on
-  recorddata: 0         # 0: off; 1: on
-  devstatuslog: 1       # 0: off; 1: on
-  pubintensitygray: 0   # 0: off; 1: on
-  showpath: 0           # 0: off; 1: on
-  showcamerapose: 0     # 0: off; 1: on
+  strict_usb3.0_check: 0  # 0: off: 1: on; if off, allow connection even if usb connection is below usb 3.0 
+  streamctrl: 1           # 0: off; 1: on
+  sendrgb: 1              # 0: off; 1: on
+  sendimu: 1              # 0: off; 1: on
+  sendodom: 1             # 0: off; 1: on
+  senddtof: 1             # 0: off; 1: on
+  sendcloudslam: 1        # 0: off; 1: on
+  sendcloudrender: 1      # 0: off; 1: on
+  sendrgbcompressed: 1    # 0: off; 1: on
+  senddepth: 0            # 0: off; 1: on
+  sendrgbundistort: 0     # 0: off; 1: on
+  recorddata: 0           # 0: off; 1: on
+  devstatuslog: 1         # 0: off; 1: on
+  pubintensitygray: 0     # 0: off; 1: on
+  showpath: 0             # 0: off; 1: on
+  showcamerapose: 0       # 0: off; 1: on
   custom_save_map: 0
-  custom_map_mode: 0    # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
+  custom_map_mode: 0      # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
   custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
-  relocalization_map_abs_path: "" # must be set or will fail
+  relocalization_map_abs_path: "" # must be set for Relocalization mode or will fail
   mapping_result_dest_dir: "" # "": use default value; other: use custom value
   mapping_result_file_name: "" # "": use default value; other: use custom value

src/host_sdk_sample.cpp

@@ -45,7 +45,7 @@ limitations under the License.
     #include <ros/package.h>
     #include <ros/ros.h> 
 #endif
-#define ros_driver_version "0.6.0"
+#define ros_driver_version "0.6.1"
 // Global variable declarations
 static device_handle odinDevice = nullptr;
 static std::atomic<bool> deviceConnected(false);
@@ -97,6 +97,7 @@ int g_devstatus_log = 0;
 int g_pub_intensity_gray = 0;
 int g_show_path = 0;
 int g_show_camerapose = 0;
+int g_strict_usb3_0_check = 0;
 
 std::filesystem::path log_root_dir_;
 int g_custom_map_mode = 0;
@@ -502,6 +503,14 @@ bool isUsb3OrHigher(const std::string& vendorId, const std::string& productId) {
     #else
         ROS_INFO("Detected USB version: %.1f", version);
     #endif
+    if (!g_strict_usb3_0_check) {
+        #ifdef ROS2
+            RCLCPP_INFO(rclcpp::get_logger("usb_check"), "Strict USB3.0 check disabled");
+        #else
+            ROS_INFO("Strict USB3.0 check disabled");
+        #endif
+        return true;
+    }
     return version >= 3.0;
 }
 
@@ -1361,6 +1370,7 @@ int main(int argc, char *argv[])
         g_show_path = get_key_value("showpath", 0);
         g_show_camerapose = get_key_value("showcamerapose", 0);
         g_log_level = get_key_value("log_devel", LOG_LEVEL_INFO);
+        g_strict_usb3_0_check = get_key_value("strict_usb3.0_check", 1);
 
         auto get_key_str_value = [&](const std::string& key, const std::string& default_value) -> std::string {
             auto it = keys_w_str_val.find(key);