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On Ubuntu Oneiric, following upgrade instructions to Fuerte Turtlebot, http://www.ros.org/wiki/Robots/TurtleBot/fuerte/Robot_Upgrade, roscore started Ok with "minimal.launch" though with several ROS error msgs in addition to a Lenovo x120e "battery" issue I reported in an earlier post:

core service [/rosout] found process[appmaster-1]: started with pid [14537] process[app_manager-2]: started with pid [14538] process[turtlebot_node-3]: started with pid [14539] process[turtlebot_laptop_battery-4]: started with pid [14541] process[robot_state_publisher-5]: started with pid [14543] process[diagnostic_aggregator-6]: started with pid [14548]

/opt/ros/fuerte/stacks/turtlebot/turtlebot_node/nodes/turtlebot_node.py:54: UserWarning: roslib.rosenv is deprecated, please use rospkg or rosgraph.rosenv import roslib.rosenv

[ WARN] [1336438418.625508278]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

process[robot_pose_ekf-7]: started with pid [14581]

turtlebot_apps.installed loading installation data for [turtlebot_apps.installed]

[WARN] [WallTime: 1336438419.701618] Unable to check laptop battery info. Exception: [Errno 2] No such file or directory: '/proc/acpi/battery/BAT0/info' [WARN] [WallTime: 1336438419.702619] Unable to check laptop battery state. Exception: [Errno 2] No such file or directory: '/proc/acpi/battery/BAT0/state'

ERROR: Cannot locate app file for turtlebot_teleop/android_teleop: package is not installed.

[INFO] [WallTime: 1336438419.739866] Starting app manager for turtlebot Traceback (most recent call last): File "/opt/ros/fuerte/stacks/turtlebot/turtlebot_node/nodes/turtlebot_node.py", line 68, in import turtlebot_node.robot_types as robot_types

File "/opt/ros/fuerte/stacks/turtlebot/turtlebot_node/src/turtlebot_node/robot_types.py", line 29, in import create_sensor_handler

File "/opt/ros/fuerte/stacks/turtlebot/turtlebot_node/src/turtlebot_node/create_sensor_handler.py", line 42, in _struct_I = roslib.message.struct_I

AttributeError: 'module' object has no attribute 'struct_I'

[INFO] [WallTime: 1336438419.766782] Waiting for foreign master [http://localhost:11312] to come up... [INFO] [WallTime: 1336438419.772081] Foreign master is available

[INFO] [WallTime: 1336438419.809062] Registering (/turtlebot/app_list, on master http://localhost:11312

[INFO] [WallTime: 1336438419.821318] Registering (/turtlebot/application/app_status, on master http://localhost:11312 turtlebot_apps.installed loading installation data for [turtlebot_apps.installed]

Suggestions to troubleshoot?

Originally posted by RobotRoss on ROS Answers with karma: 141 on 2012-05-07

Post score: 2

Original comments

Comment by AndreasB on 2012-05-08:
I'm seeing similar problems after updating to Fuerte and at the same time updating to ubuntu precise.


2 Answers 2


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This it is a defect (see ticket for patch or better wait till its merged into the trunk):


p.s.: the fixes I applied:

rospkg.common.ResourceNotFound: rostest
ROS path [0]=/opt/ros/fuerte/share/ros

-> add /opt/ros/fuerte/share to ROS_PACKAGE_PATH

  File "/opt/ros/fuerte/stacks/turtlebot/turtlebot_node/src/turtlebot_node/create_sensor_handler.py", line 42, in <module>
    _struct_I = roslib.message.struct_I
AttributeError: 'module' object has no attribute 'struct_I'

-> get fix from https://kforge.ros.org/turtlebot/trac/ticket/139 in /opt/ros/fuerte/stacks/turtlebot execute sudo patch -p1 < PathToDiffFix

I also applied https://kforge.ros.org/turtlebot/trac/ticket/137 to fix the install.bash and https://kforge.ros.org/turtlebot/trac/ticket/142 to fix kinect.launch

For turtlebot.eu fellows: Read http://answers.ros.org/question/27755/roomba-500-series-installation-problem

You have to change the turtlebot_node parameters robot_type publish_tf has_gyro

Originally posted by ZendelO with karma: 16 on 2012-05-10

This answer was ACCEPTED on the original site

Post score: 2


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suggests this might have to do with your python path (same struct_I issue).
You could try echo $PYTHONPATH and see if there are old references to electric in there

Originally posted by pallegro with karma: 36 on 2012-05-09

This answer was NOT ACCEPTED on the original site

Post score: 1


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