Hi,
I just installed ubuntu 14.04.2 (trusty) on my netbook, and followed the directions here (http://wiki.ros.org/indigo/Installation/Ubuntu) to install ROS indigo. Then I installed the TurtleBot packages here (http://wiki.ros.org/turtlebot/Tutorials/indigo/Installation). I test the setup by running roscore on the master machine (different physical machine, but same setup as described), and then minimal.launch on the netbook. It seems to be working for about 15 seconds, but then it crashes when the rapp manager times out.
Does anybody know what might be going on? At first I thought it was a problem with communication between machines, but they can ping each other fine and all environment variables seem to be set:
asdf@asdf:~$ printenv | grep ROS ROS_ROOT=/opt/ros/indigo/share/ros ROS_PACKAGE_PATH=/opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/asdf/thesis/ROS/helloworld/turtlebot_driver_test/:/home/asdf/thesis/LoadManager/catkin_ws/ ROS_MASTER_URI=http://squirrel:11311 ROS_HOSTNAME=asdf ROSLISP_PACKAGE_DIRECTORIES= ROS_DISTRO=indigo ROS_IP=10.8.190.94 ROS_ETC_DIR=/opt/ros/indigo/etc/ros
Here's the output of minimal.launch:
asdf@asdf:~slaunch turtlebot_bringup minimal.launch ... logging to /home/asdf/.ros/log/dfa94692-c740-11e4-8dbb-001c230e5560/roslaunch-asdf-2863.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://asdf:59137/
SUMMARY
PARAMETERS
- /app_manager/auto_rapp_installation: False
- /app_manager/auto_start_rapp:
- /app_manager/capability_server_name: capability_server
- /app_manager/local_remote_controllers_only: False
- /app_manager/rapp_package_blacklist: []
- /app_manager/rapp_package_whitelist: ['rocon_apps', 't...
- /app_manager/remote_controller_blacklist: []
- /app_manager/remote_controller_whitelist: []
- /app_manager/robot_icon: turtlebot_bringup...
- /app_manager/robot_name: turtlebot
- /app_manager/robot_type: turtlebot
- /app_manager/screen: True
- /app_manager/simulation: False
- /bumper2pointcloud/pointcloud_radius: 0.24
- /capability_server/blacklist: ['std_capabilitie...
- /capability_server/defaults/kobuki_capabilities/KobukiBringup: kobuki_capabiliti...
- /capability_server/defaults/kobuki_capabilities/KobukiBumper: kobuki_capabiliti...
- /capability_server/defaults/kobuki_capabilities/KobukiCliffDetection: kobuki_capabiliti...
- /capability_server/defaults/kobuki_capabilities/KobukiLED1: kobuki_capabiliti...
- /capability_server/defaults/kobuki_capabilities/KobukiLED2: kobuki_capabiliti...
- /capability_server/defaults/kobuki_capabilities/KobukiLED: kobuki_capabiliti...
- /capability_server/defaults/kobuki_capabilities/KobukiWheelDropDetection: kobuki_capabiliti...
- /capability_server/defaults/std_capabilities/Diagnostics: turtlebot_capabil...
- /capability_server/defaults/std_capabilities/DifferentialMobileBase: kobuki_capabiliti...
- /capability_server/defaults/std_capabilities/LaserSensor: turtlebot_capabil...
- /capability_server/defaults/std_capabilities/RGBDSensor: turtlebot_capabil...
- /capability_server/defaults/std_capabilities/RobotStatePublisher: turtlebot_capabil...
- /capability_server/defaults/turtlebot_capabilities/TurtleBotBringup: turtlebot_capabil...
- /capability_server/nodelet_manager_name: capability_server...
- /capability_server/package_whitelist: ['kobuki_capabili...
- /cmd_vel_mux/yaml_cfg_file: /opt/ros/indigo/s...
- /description: Kick-ass ROS turtle
- /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
- /icon: turtlebot_bringup...
- /interactions/interactions: ['turtlebot_bring...
- /interactions/pairing: True
- /interactions/rosbridge_address: localhost
- /interactions/rosbridge_port: 9090
- /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
- /name: turtlebot
- /robot/name: turtlebot
- /robot/type: turtlebot
- /robot_description: <?xml version="1....
- /robot_state_publisher/publish_frequency: 5.0
- /rosdistro: indigo
- /rosversion: 1.11.10
- /turtlebot_laptop_battery/acpi_path: /sys/class/power_...
- /use_sim_time: False
- /zeroconf/zeroconf/services: [{'domain': 'loca...
NODES /zeroconf/ zeroconf (zeroconf_avahi/zeroconf) / app_manager (rocon_app_manager/rapp_manager.py) bumper2pointcloud (nodelet/nodelet) capability_server (capabilities/capability_server) cmd_vel_mux (nodelet/nodelet) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) interactions (rocon_interactions/interactions_manager.py) master (rocon_master_info/master.py) 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)
ROS_MASTER_URI=http://squirrel:11311
core service [/rosout] found process[robot_state_publisher-1]: started with pid [2875] process[diagnostic_aggregator-2]: started with pid [2881] process[mobile_base_nodelet_manager-3]: started with pid [2886] process[mobile_base-4]: started with pid [2896] process[cmd_vel_mux-5]: started with pid [2904] process[bumper2pointcloud-6]: started with pid [2909] process[turtlebot_laptop_battery-7]: started with pid [2914] process[capability_server-8]: started with pid [2915] process[app_manager-9]: started with pid [2925] process[master-10]: started with pid [2929] [WARN] [WallTime: 1426004232.749493] Battery : unable to check laptop battery info [/sys/class/power_supply/BAT0/charge_full_design || /sys/class/power_supply/BAT0/energy_full_design does not exist] process[interactions-11]: started with pid [2941] [turtlebot_laptop_battery-7] process has finished cleanly log file: /home/asdf/.ros/log/dfa94692-c740-11e4-8dbb-001c230e5560/turtlebot_laptop_battery-7*.log process[zeroconf/zeroconf-12]: started with pid [2947] [ INFO] [1426004235.540667254]: Zeroconf: service successfully established [turtlebot][_ros-master._tcp][11311] [ERROR] [WallTime: 1426004242.795662] Interactions : timed out trying to find the rapp manager start_rapp, stop_rapp services and status topic [unable to communicate with the master [no provider]] Traceback (most recent call last): File "/opt/ros/indigo/lib/rocon_interactions/interactions_manager.py", line 20, in interactions_manager = rocon_interactions.InteractionsManager() File "/opt/ros/indigo/lib/python2.7/dist-packages/rocon_interactions/manager.py", line 74, in init self._rapp_handler = RappHandler(self._rapp_manager_status_update_callback) File "/opt/ros/indigo/lib/python2.7/dist-packages/rocon_interactions/rapp_handler.py", line 74, in init thread = threading.Thread(target=self._setup_rapp_manager_connections()) File "/opt/ros/indigo/lib/python2.7/dist-packages/rocon_interactions/rapp_handler.py", line 85, in _setup_rapp_manager_connections self.start_rapp = rospy.ServiceProxy(start_rapp_service_name, rocon_app_manager_srvs.StartRapp) UnboundLocalError: local variable 'start_rapp_service_name' referenced before assignment [interactions-11] process has died [pid 2941, exit code 1, cmd /opt/ros/indigo/lib/rocon_interactions/interactions_manager.py __name:=interactions __log:=/home/asdf/.ros/log/dfa94692-c740-11e4-8dbb-001c230e5560/interactions-11.log]. log file: /home/asdf/.ros/log/dfa94692-c740-11e4-8dbb-001c230e5560/interactions-11*.log /opt/ros/indigo/lib/python2.7/dist-packages/bondpy/bondpy.py:114: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.pub = rospy.Publisher(self.topic, Status) /opt/ros/indigo/lib/python2.7/dist-packages/bondpy/bondpy.py:114: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.pub = rospy.Publisher(self.topic, Status) [mobile_base-4] process has finished cleanly log file: /home/asdf/.ros/log/dfa94692-c740-11e4-8dbb-001c230e5560/mobile_base-4*.log [WARN] [WallTime: 1426004245.691961] Rapp Manager : No preferred rapp for 'turtlebot_rapps/xbox360_teleop'. 'turtlebot_rapps/xbox360_teleop' has been selected. [WARN] [WallTime: 1426004245.692852] Rapp Manager : No preferred rapp for 'turtlebot_rapps/follower'. 'turtlebot_rapps/follower' has been selected. [WARN] [WallTime: 1426004245.693576] Rapp Manager : No preferred rapp for 'turtlebot_rapps/map_nav'. 'turtlebot_rapps/map_nav' has been selected. [WARN] [WallTime: 1426004245.694224] Rapp Manager : No preferred rapp for 'turtlebot_rapps/3dsensor'. 'turtlebot_rapps/3dsensor' has been selected. [WARN] [WallTime: 1426004245.695376] Rapp Manager : No preferred rapp for 'turtlebot_rapps/ps3_teleop'. 'turtlebot_rapps/ps3_teleop' has been selected. [WARN] [WallTime: 1426004245.696071] Rapp Manager : No preferred rapp for 'rocon_apps/chirp'. 'rocon_apps/meow_chirp' has been selected. [WARN] [WallTime: 1426004245.697110] Rapp Manager : No preferred rapp for 'turtlebot_rapps/make_a_map'. 'turtlebot_rapps/make_a_map' has been selected. [WARN] [WallTime: 1426004245.698088] Rapp Manager : No preferred rapp for 'rocon_apps/video_teleop'. 'turtlebot_rapps/video_teleop' has been selected. [WARN] [WallTime: 1426004245.699060] Rapp Manager : No preferred rapp for 'turtlebot_rapps/panorama'. 'turtlebot_rapps/panorama' has been selected. [WARN] [WallTime: 1426004245.699824] Rapp Manager : No preferred rapp for 'rocon_apps/listener'. 'rocon_apps/listener' has been selected. [WARN] [WallTime: 1426004245.700544] Rapp Manager : No preferred rapp for 'turtlebot_rapps/auto_docking'. 'turtlebot_rapps/auto_docking' has been selected. [WARN] [WallTime: 1426004245.701679] Rapp Manager : No preferred rapp for 'rocon_apps/talker'. 'rocon_apps/talker' has been selected. [cmd_vel_mux-5] process has finished cleanly log file: /home/asdf/.ros/log/dfa94692-c740-11e4-8dbb-001c230e5560/cmd_vel_mux-5*.log [bumper2pointcloud-6] process has finished cleanly log file: /home/asdf/.ros/log/dfa94692-c740-11e4-8dbb-001c230e5560/bumper2pointcloud-6*.log
Thanks! David
Originally posted by dfk on ROS Answers with karma: 11 on 2015-03-10
Post score: 0
Original comments
Comment by dfk on 2015-03-10:
Odd. Now I installed rocon on the master and get this error:
/opt/ros/indigo/lib/python2.7/dist-packages/bondpy/bondpy.py:114: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'.
Comment by dfk on 2015-03-10:
Hmm. Ran it again and got this error. I don't understand what could be causing such different errors.
[ERROR] [1426005603.145805035]: received a tcpros connection for a nonexistent service [/cmd_vel_mux/set_parameters].
Comment by jihoonl on 2015-03-15:
bondpy.py warning is created by http://wiki.ros.org/bondpy. I have confirmed that it does not cause any problem.