Comments (4)
gaunthan
commented on June 16, 2024
Hi. Which script you used to install turtlebot-related packages?
After bringup the robot, could you receive any message that the robot published?
from turtlebot2-on-melodic.
sieuwe1
commented on June 16, 2024
Hi @gaunthan I used your script to install the turtlebot packages using the instructions in your Readme. I am now not at the robot so can not tell you if any messages are published. I will get back to you tomorrow because I am then at the robot.
Greetings Sieuwe
from turtlebot2-on-melodic.
sieuwe1
commented on June 16, 2024
Hi @gaunthan
Here are the terminal outputs for 3 scripts I run. I think the last one is the most interesting because that shows an error with the "Call to action server". Not actually sure what this is tho. And also this error only came after I shut down ROS using control + C. So maybe because I was shutting it down the error came? When running normally none of these scripts gave any real errors.
Also I dont think I can recieve any messages from the robot. There is a " malformed sub-payload detected." erro in the first output so maybe the robot is trying to send messages but failing?
Thanks for your help.
Greetings
Sieuwe
jetson@jetson-Nano:~/catkin_workspace$ roslaunch /home/jetson/catkin_workspace/src/turtlebot/turtlebot_bringup/launch/minimal.launch
... logging to /home/jetson/.ros/log/0b11ccee-7fc6-11ea-a571-00044be6f499/roslaunch-jetson-Nano-27856.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://jetson-Nano:44969/
SUMMARY
========
PARAMETERS
* /bumper2pointcloud/pointcloud_radius: 0.24
* /cmd_vel_mux/yaml_cfg_file: /home/jetson/catk...
* /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
* /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
* /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
* /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
* /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
* /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
* /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
* /diagnostic_aggregator/analyzers/power/path: Power System
* /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/power/timeout: 5.0
* /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
* /diagnostic_aggregator/analyzers/sensors/path: Sensors
* /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
* /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
* /diagnostic_aggregator/base_path:
* /diagnostic_aggregator/pub_rate: 1.0
* /mobile_base/base_frame: base_footprint
* /mobile_base/battery_capacity: 16.5
* /mobile_base/battery_dangerous: 13.2
* /mobile_base/battery_low: 14.0
* /mobile_base/cmd_vel_timeout: 0.6
* /mobile_base/device_port: /dev/kobuki
* /mobile_base/odom_frame: odom
* /mobile_base/publish_tf: True
* /mobile_base/use_imu_heading: True
* /mobile_base/wheel_left_joint_name: wheel_left_joint
* /mobile_base/wheel_right_joint_name: wheel_right_joint
* /robot/name: turtlebot
* /robot/type: turtlebot
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 5.0
* /rosdistro: melodic
* /rosversion: 1.14.5
* /turtlebot_laptop_battery/acpi_path: /sys/class/power_...
* /use_sim_time: False
NODES
/
bumper2pointcloud (nodelet/nodelet)
cmd_vel_mux (nodelet/nodelet)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
mobile_base (nodelet/nodelet)
mobile_base_nodelet_manager (nodelet/nodelet)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)
auto-starting new master
process[master]: started with pid [27885]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 0b11ccee-7fc6-11ea-a571-00044be6f499
process[rosout-1]: started with pid [27899]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [27906]
process[diagnostic_aggregator-3]: started with pid [27907]
process[mobile_base_nodelet_manager-4]: started with pid [27913]
process[mobile_base-5]: started with pid [27918]
process[bumper2pointcloud-6]: started with pid [27921]
process[cmd_vel_mux-7]: started with pid [27925]
ERROR: cannot launch node of type [laptop_battery_monitor/laptop_battery.py]: laptop_battery_monitor
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/jetson/catkin_workspace/src
ROS path [2]=/opt/ros/melodic/share
[ERROR] [1587029928.402926995]: Kobuki : malformed sub-payload detected. [154][170][9A AA 55 4D 01 0F 74 D1 00 00 00 E6 ]
^C[cmd_vel_mux-7] killing on exit
[bumper2pointcloud-6] killing on exit
[mobile_base_nodelet_manager-4] killing on exit
[mobile_base-5] killing on exit
[diagnostic_aggregator-3] killing on exit
[robot_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
jetson@jetson-Nano:~/catkin_workspace$ roslaunch turtlebot_teleop keyboard_teleop.launch
... logging to /home/jetson/.ros/log/bd6c22ae-7fc6-11ea-a4bc-00044be6f499/roslaunch-jetson-Nano-29215.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://jetson-Nano:40627/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.5
* /turtlebot_teleop_keyboard/scale_angular: 1.5
* /turtlebot_teleop_keyboard/scale_linear: 0.5
NODES
/
turtlebot_teleop_keyboard (turtlebot_teleop/turtlebot_teleop_key)
auto-starting new master
process[master]: started with pid [29236]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to bd6c22ae-7fc6-11ea-a4bc-00044be6f499
process[rosout-1]: started with pid [29251]
started core service [/rosout]
process[turtlebot_teleop_keyboard-2]: started with pid [29256]
Control Your Turtlebot!
---------------------------
Moving around:
u i o
j k l
m , .
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly
CTRL-C to quit
currently: speed 0.2 turn 1
currently: speed 0.22 turn 1
currently: speed 0.22 turn 1.1
currently: speed 0.242 turn 1.1
currently: speed 0.242 turn 1.21
currently: speed 0.2662 turn 1.21
currently: speed 0.29282 turn 1.21
currently: speed 0.322102 turn 1.21
currently: speed 0.3543122 turn 1.21
currently: speed 0.38974342 turn 1.21
currently: speed 0.428717762 turn 1.21
currently: speed 0.4715895382 turn 1.21
currently: speed 0.51874849202 turn 1.21
currently: speed 0.570623341222 turn 1.21
currently: speed 0.627685675344 turn 1.21
currently: speed 0.690454242879 turn 1.331
Control Your Turtlebot!
---------------------------
Moving around:
u i o
j k l
m , .
CTRL-C to quit
currently: speed 0.759499667166 turn 1.4641
currently: speed 0.835449633883 turn 1.61051
currently: speed 0.835449633883 turn 1.771561
currently: speed 0.835449633883 turn 1.9487171
currently: speed 0.835449633883 turn 2.14358881
currently: speed 0.835449633883 turn 2.357947691
currently: speed 0.835449633883 turn 2.5937424601
currently: speed 0.835449633883 turn 2.85311670611
currently: speed 0.918994597271 turn 2.85311670611
[turtlebot_teleop_keyboard-2] process has finished cleanly
log file: /home/jetson/.ros/log/bd6c22ae-7fc6-11ea-a4bc-00044be6f499/turtlebot_teleop_keyboard-2*.log
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly
CTRL-C to quit
currently: speed 0.759499667166 turn 1.4641
currently: speed 0.835449633883 turn 1.61051
currently: speed 0.835449633883 turn 1.771561
currently: speed 0.835449633883 turn 1.9487171
currently: speed 0.835449633883 turn 2.14358881
currently: speed 0.835449633883 turn 2.357947691
currently: speed 0.835449633883 turn 2.5937424601
currently: speed 0.835449633883 turn 2.85311670611
currently: speed 0.918994597271 turn 2.85311670611
[turtlebot_teleop_keyboard-2] process has finished cleanly
log file: /home/jetson/.ros/log/bd6c22ae-7fc6-11ea-a4bc-00044be6f499/turtlebot_teleop_keyboard-2*.log
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
jetson@jetson-Nano:~/catkin_workspace$ roslaunch /home/jetson/catkin_workspace/src/turtlebot_apps/turtlebot_actions/launch/client_move_test.launch
... logging to /home/jetson/.ros/log/f164e5be-7fc6-11ea-a474-00044be6f499/roslaunch-jetson-Nano-29541.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://jetson-Nano:35069/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.5
NODES
/
test_move (turtlebot_actions/test_move.py)
auto-starting new master
process[master]: started with pid [29562]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to f164e5be-7fc6-11ea-a474-00044be6f499
process[rosout-1]: started with pid [29573]
started core service [/rosout]
process[test_move-2]: started with pid [29580]
^C[test_move-2] killing on exit
[ERROR] [1587030320.517019]: Call to action server failed
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
from turtlebot2-on-melodic.
marvinferber
commented on June 16, 2024
Hi, I just checked the issue.
I am afraid there are no UDEV rules in Ubuntu Bionic for Kobuki. So you cannot use /dev/ttyUSB0 as a non-root user. Fortunately, there is a script available to fix this. See http://wiki.ros.org/kobuki_ftdi/Tutorials/Udev%20Rules
kobuki_ftdi is part of kobuki_core. It can be installed from deb package and from github.
Type rosrun kobuki_ftdi create_udev_rules to install the missing UDEV rules. Do not forget to restart.
Worked for me.
BTW: Installing the UDEV rule makes /dev/kobuki available. Otherwise you may not see /dev/kobuki even when plugged in to USB.
from turtlebot2-on-melodic.
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