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I have some Python code working that reads from a sensor connected to I2C.

As this works, I assume I have all my permissions set up correctly for the I2C interface.

I then wrote a ROS 2 wrapper for the Python code. When I try run (ros2 run) this node I get a PermissionError as follows:

Traceback (most recent call last): File "/opt/ros/jazzy/lib/python3.12/site-packages/launch/actions/execute_local.py", line 569, in __execute_process transport, self._subprocess_protocol = await async_execute_process( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/opt/ros/jazzy/lib/python3.12/site-packages/osrf_pycommon/process_utils/async_execute_process_asyncio/impl.py", line 139, in async_execute_process transport, protocol = await _async_execute_process_nopty( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/opt/ros/jazzy/lib/python3.12/site-packages/osrf_pycommon/process_utils/async_execute_process_asyncio/impl.py", line 45, in _async_execute_process_nopty transport, protocol = await loop.subprocess_exec( ^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/lib/python3.12/asyncio/base_events.py", line 1744, in subprocess_exec transport = await self._make_subprocess_transport( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/lib/python3.12/asyncio/unix_events.py", line 211, in _make_subprocess_transport transp = _UnixSubprocessTransport(self, protocol, args, shell, ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/lib/python3.12/asyncio/base_subprocess.py", line 36, in init self._start(args=args, shell=shell, stdin=stdin, stdout=stdout, File "/usr/lib/python3.12/asyncio/unix_events.py", line 820, in _start self._proc = subprocess.Popen( ^^^^^^^^^^^^^^^^^ File "/usr/lib/python3.12/subprocess.py", line 1026, in init self._execute_child(args, executable, preexec_fn, close_fds, File "/usr/lib/python3.12/subprocess.py", line 1840, in _execute_child self._posix_spawn(args, executable, env, restore_signals, File "/usr/lib/python3.12/subprocess.py", line 1784, in _posix_spawn self.pid = os.posix_spawn(executable, args, env, **kwargs) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ PermissionError: [Errno 13] Permission denied:

(address to my node in ws/install) follows "Permission denied:"

Anyone have ideas or things I can try to debug? I have done sudo rosdep fix-permissions in the workspace. The Python file is also executable.

Thanks.

[Jazzy, RaspberryPi5]

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  • $\begingroup$ Hi, in your ros2 workspace, did you tried to execute "sudo chmod -R +x" $\endgroup$
    – Kevin_dans_son_garage_du_63
    Commented Jul 4 at 7:45
  • $\begingroup$ Thanks for your suggestion @Kevin_dans_son_garage_du_63 . Please see my answer below for the fix. $\endgroup$
    – BryanGD123
    Commented Jul 4 at 15:44

1 Answer 1

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This has been resolved. Ultimately, it was about not using Python virtual envs and ROS 2 correctly. After adding my virtual env's site-packages address to $PYTHONPATH, it then worked.

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