Udev
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Also see writing udev rules.
Please see paparazzi naming description for understanding why do we need udev rules.
You can get the serial number of your FTDI usb/serial converter connected to your xbee via
udevadm info --query=all --attribute-walk --name=/dev/ttyUSB0
and looking for the lines
ATTRS{manufacturer}=="FTDI"
ATTRS{product}=="FT232R USB UART"
ATTRS{serial}=="A80081ej"
where the last one would be your serial you need to write into the rules file, e.g.
# your own XBee ground modem with FTDI USB adapter (adapt serial number)
SUBSYSTEM=="tty", ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A80081ej", SYMLINK+="paparazzi/xbee", GOTO="tty_FTDI232_end"
To see what udev rules would match (It may show incorrect results, because
some values may be different, or not available at a simulation run.)
udevadm test --action=add $(udevadm info --query=path --name /dev/ttyUSB0)
To actually retrigger without having to re-plug it:
sudo udevadm trigger
examples
udev rule for the floss-jtag serial interface
SUBSYSTEM=="tty", ATTRS{interface}=="FLOSS-JTAG", ATTRS{bInterfaceNumber}=="01", SYMLINK+="jtag-serial"
udev rule foe the BlackMagicProbe serial interface
SUBSYSTEM=="tty", ATTRS{interface}=="Black Magic UART Port", SYMLINK+="bmp-serial"