ROS-Error why is it occurring?

flir_ptu_driver

asked 2015-02-11 15:27:53 -0500

215
156 ●42 ●50 ●63

updated 2015-02-12 04:47:31 -0500

I created a tread before in which i had problems roslaunch flir_ptu_driver package, but now i am able to do so.. The problem is now connection to the PTU itself.

This problems occurs when it runs.

 SUMMARY
========

PARAMETERS
  * /ptu/ptu_driver/port: /dev/ttyS0
  * /robot_description: <?xml version="1....
  * /rosdistro: indigo
  * /rosversion: 1.11.10

NODES   /ptu/
    ptu_driver (flir_ptu_driver/ptu_node)   /
    robot_state_publisher (robot_state_publisher/state_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[robot_state_publisher-1]: started with pid [22448]
process[ptu/ptu_driver-2]: started with pid [22471]
[ERROR] [1423666094.360529213]: Error getting pan-tilt res
[ERROR] [1423666094.567848519]: Error getting pan-tilt res
[ERROR] [1423666094.775231719]: Error getting pan-tilt limit
[ERROR] [1423666094.982708429]: Error getting pan-tilt limit
[ERROR] [1423666095.189972127]: Error getting pan-tilt limit
[ERROR] [1423666095.397236971]: Error getting pan-tilt limit
[ERROR] [1423666095.604498868]: Error getting pan-tilt limit
[ERROR] [1423666095.811768242]: Error getting pan-tilt limit
[ERROR] [1423666096.019039689]: Error getting pan-tilt limit
[ERROR] [1423666096.226318569]: Error getting pan-tilt limit
[ERROR] [1423666096.226392784]: Could not initialize FLIR PTU on /dev/ttyS0

It seems like that the first error messages end, so they seem to resolve somehow, but the last one freezes and never gets resolved. How come?...

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I'm having the same problem at this very moment. Thanks for asking

Pototo ( 2015-02-11 18:19:34 -0500 )edit

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answered 2015-02-13 04:32:33 -0500

215
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updated 2015-02-13 10:00:41 -0500

I 've been debugging the code and can see that during the initializing phase, RX receives garbage values.. eg. write("px ") returns |n8 and not a 7311. pr therefore get the value -1, and automatically lead the boolean initialize to false, which is why it freezes.

--- Edit

problem resolved baudrate was incorrect.

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Can you be a bit more specific? I'm currently having the exact same problem. Thanks in advance.

kokirits ( 2015-03-03 05:24:43 -0500 )edit

The code is preset to run on a baud rate 9600. I changed that to one I had specified, and it worked.

215 ( 2015-03-04 03:55:41 -0500 )edit

Do you remember the baud rate you set ?

kokirits ( 2015-03-04 04:14:40 -0500 )edit

´stty -F /dev/ttyXX´ will tell you what your baud rate should be

215 ( 2015-03-04 04:32:08 -0500 )edit

Thanks for answering. Still having the same error though. My question at ros answers can be found here.

kokirits ( 2015-03-04 06:16:55 -0500 )edit

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answered 2015-02-11 20:14:10 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

It looks like you cannot connect to your device. Maybe it's not on or not plugged in to port /dev/ttyS0

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I am able to connect to it using screen. So it is connected.

215 ( 2015-02-12 04:10:26 -0500 )edit

What are the command arguments that you used in order to connect to it through screen?

Pototo ( 2015-02-12 13:11:27 -0500 )edit

screen /dev/ttyS0 19200

215 ( 2015-02-12 14:09:25 -0500 )edit

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answered 2015-02-12 20:42:20 -0500

Pototo
803 ●51 ●59 ●67

hhmm...ironically I get that error when the wrong device is connected to the port I roslaunched to. Maybe there is data being transmitted through ttyS0 from another device connected to it, and that might be why we "can't get the pan-tilt information."

My solution was to go through every port that had a device connected, and roslaunched to it. Eventually I found the right port name. Now I can move the PTU from the command line.

I used a program called "gtkterm" to find just the ports that had devices connected to them, rather than going through every single port in the computer:

sudo gtkterm

I hope this helps.

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I would suggest to look into using udev rules to give your ptu a recognisable name under /dev/. That would remove much of the guess work. See Clearpath Robotics - Do More with Udev for some more info.

gvdhoorn ( 2015-02-13 02:18:09 -0500 )edit

I tried dmesg | grep tty and got this response [ 0.000000] console [tty0] enabled [ 0.621767] 00:08: ttyS0 at I/O 0x3f8 (irq = 4, base_baud = 115200) is a 16550A

I am certain that this must be the port

215 ( 2015-02-13 04:22:55 -0500 )edit

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