Error bringing up the robot:[WARN] Create : robot not connected yet, sci not available
Hello:
I`m trying to use the robot turtlebot create with a kinect, using Ubuntu14.04 and ROS Indigo on the server and on the robot netbook. I have followed this tutorials in the ros wiki for the installation steps and configuration:
- http://wiki.ros.org/indigo/Installation/Ubuntu
- http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
- http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation
- http://wiki.ros.org/turtlebot/Tutorials/indigo/PC%20Installation
- http://wiki.ros.org/turtlebot/Tutorials/indigo/Network%20Configuration
- http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/TurtleBot%20Bringup
I have installed this drivers for the kinect:
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install freenect libfreenect-dev
and i have tested with: freenect-glview 0, and it works.
I have this settings in my laptop, ~/.bashrc file:
source /opt/ros/indigo/setup.bash
export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=kinect
export TURTLEBOT_SERIAL_PORT=/dev/ttyUSB0
export TURTLEBTO_BATTERY=/sys/class/power_supply/BAT1
export ROS_MASTER_URI=http://10.1.28.31:11311
export ROS_HOST_NAME=10.1.28.117
and in the netbook, ~/.bashrc file:
source /opt/ros/indigo/setup.bash
export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=kinect
export TURTLEBOT_SERIAL_PORT=/dev/ttyUSB0
export TURTLEBTO_BATTERY=/sys/class/power_supply/BAT1
export ROS_MASTER_URI=http://10.1.28.31:11311
export ROS_HOST_NAME=10.1.28.31
-lsusb:
Bus 001 Device 007: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Bus 001 Device 005: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 006: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
...
Bus 002 Device 002: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC
...
-dmesg:
ftdi_sio 2-1:1.0: FTDI USB Serial Device converter detected
usb 2_1: Detected FT232RL
usb 2_1: Number of endpoints 2
usb 2_1: Endpoint 1 MaxPacketSize 64
usb 2_1: Endpoint 2 MaxPacketSize 64
usb 2_1: Setting MaxPacketSize 64
usb 2_1: FTDI USB Serial Device converter now attached to ttyUSB0
-ls -l /dev/ttyUSB0:
crwxrwxrwx 1 root dialout 188, 0 mar 16 18:19 /dev/ttyUSB0
I have create an Udev rule in /etc/udev/rules.d/92-pruebas.rules:
#SERIAL
KERNEL=="tty", GROUP=="dialout", MODE=="0777"
I have edit the file /etc/group:
...
dialout:x:20:turtlebot
...
tty:x:5:turtlebot
...
(turtlebot is the name of the user in the netbook)
i have disable the firewall on my laptop and on netbook:
sudo ufw disable
(for getting all ports of the robot netbook open)
when i do: roslaunch turtlebot_bringup minimal.launch, the robot swich off, getting this message:
turtlebot@turtlebot-00:~$ roslaunch turtlebot_bringup minimal.launch
... logging to /home/turtlebot/.ros/log/edefbf1e-cbce-11e4-9572-002185543cff/roslaunch-turtlebot-00-6055.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://10.1.28.31:38531/
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
* /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/digital_io/path: Digital IO
* /diagnostic_aggregator/analyzers/digital_io/startswith: ['Digital Outputs']
* /diagnostic_aggregator/analyzers/digital_io/timeout: 5.0
* /diagnostic_aggregator/analyzers/digital_io/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/mode/path: Mode
* /diagnostic_aggregator/analyzers/mode/startswith: ['Operating Mode']
* /diagnostic_aggregator/analyzers/mode/timeout: 5.0
* /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/nodes/contains: ['Node']
* /diagnostic_aggregator/analyzers/nodes/path: Nodes
* /diagnostic_aggregator/analyzers/nodes/timeout: 5.0
* /diagnostic_aggregator/analyzers/nodes/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/power/path: Power System
* /diagnostic_aggregator/analyzers/power/startswith: ['Battery', 'Char...
* /diagnostic_aggregator/analyzers/power/timeout: 5.0
* /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/sensors/path: Sensors
* /diagnostic_aggregator/analyzers/sensors/startswith: ['Cliff Sensor', ...
* /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
* /diagnostic_aggregator/analyzers/sensors/type: GenericAnalyzer
* /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
* /name: turtlebot
* /robot/name: turtlebot
* /robot/type: turtlebot
* /robot_description: <?xml version="1....
* /robot_pose_ekf/freq: 10.0
* /robot_pose_ekf/imu_used: True
* /robot_pose_ekf/odom_used: True
* /robot_pose_ekf/output_frame: odom
* /robot_pose_ekf/publish_tf: True
* /robot_pose_ekf/sensor_timeout: 1.0
* /robot_pose_ekf/vo_used: False
* /robot_state_publisher/publish_frequency: 5.0
* /rosdistro: indigo
* /rosversion: 1.11.10
* /turtlebot_laptop_battery/acpi_path: /proc/acpi/batter...
* /turtlebot_node/bonus: False
* /turtlebot_node/port: /dev/ttyUSB0
* /turtlebot_node/update_rate: 30.0
* /use_sim_time: False
* /zeroconf/zeroconf/services: [{'domain': 'loca...
NODES
/zeroconf/
zeroconf (zeroconf_avahi/zeroconf)
/
app_manager (rocon_app_manager/rapp_manager.py)
capability_server (capabilities/capability_server)
cmd_vel_mux (nodelet/nodelet)
create_load_calibration (create_node/load_calib.py)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
interactions (rocon_interactions/interactions_manager.py)
kinect_breaker_enabler (create_node/kinect_breaker_enabler.py)
master (rocon_master_info/master.py)
mobile_base_nodelet_manager (nodelet/nodelet)
robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)
turtlebot_node (create_node/turtlebot_node.py)
ROS_MASTER_URI=http://10.1.28.31:11311
core service [/rosout] found
process[robot_state_publisher-1]: started with pid [6077]
process[diagnostic_aggregator-2]: started with pid [6103]
process[turtlebot_node-3]: started with pid [6118]
process[kinect_breaker_enabler-4]: started with pid [6123]
process[create_load_calibration-5]: started with pid [6192]
process[robot_pose_ekf-6]: started with pid [6196]
process[mobile_base_nodelet_manager-7]: started with pid [6256]
process[cmd_vel_mux-8]: started with pid [6278]
process[turtlebot_laptop_battery-9]: started with pid [6295]
process[capability_server-10]: started with pid [6338]
process[app_manager-11]: started with pid [6353]
[WARN] [WallTime: 1426505107.531039] Create : robot not connected yet, sci not available
process[master-12]: started with pid [6422]
process[interactions-13]: started with pid [6485]
process[zeroconf/zeroconf-14]: started with pid [6495]
[WARN] [WallTime: 1426505110.556899] Create : robot not connected yet, sci not available
[ INFO] [1426505111.749111728]: Zeroconf: service successfully established [turtlebot][_ros-master._tcp][11311]
[WARN] [WallTime: 1426505113.575208] Create : robot not connected yet, sci not available
[ERROR] [WallTime: 1426505114.919213] Failed to contact device with error: [Distance, angle displacement too big, invalid readings from robot. Distance: 0.06, Angle: -330.65]. Please check that the Create is powered on and that the connector is plugged into the Create.
Traceback (most recent call last):
File "/opt/ros/indigo/lib/rocon_interactions/interactions_manager.py", line 20, in <module>
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 79, in _setup_rapp_manager_connections
start_rapp_service_name = rocon_python_comms.find_service('rocon_app_manager_msgs/StartRapp', timeout=rospy.rostime.Duration(60.0), unique=True)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rocon_python_comms/services.py", line 110, in find_service
next_service_type = get_service_headers(service_name, service_uri).get('type', None)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosservice/__init__.py", line 124, in get_service_headers
return rosgraph.network.read_ros_handshake_header(s, StringIO(), 2048)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosgraph/network.py", line 365, in read_ros_handshake_header
raise ROSHandshakeException("connection from sender terminated before handshake header received. %s bytes were received. Please check sender for additional details."%b.tell())
rosgraph.network.ROSHandshakeException: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
Unhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr
[kinect_breaker_enabler-4] process has finished cleanly
log file: /home/turtlebot/.ros/log/edefbf1e-cbce-11e4-9572-002185543cff/kinect_breaker_enabler-4*.log
[interactions-13] process has died [pid 6485, exit code 1, cmd /opt/ros/indigo/lib/rocon_interactions/interactions_manager.py __name:=interactions __log:=/home/turtlebot/.ros/log/edefbf1e-cbce-11e4-9572-002185543cff/interactions-13.log].
log file: /home/turtlebot/.ros/log/edefbf1e-cbce-11e4-9572-002185543cff/interactions-13*.log
^C[master-12] killing on exit
[app_manager-11] killing on exit
[zeroconf/zeroconf-14] killing on exit
[capability_server-10] killing on exit
[turtlebot_laptop_battery-9] killing on exit
[cmd_vel_mux-8] killing on exit
[mobile_base_nodelet_manager-7] killing on exit
[robot_pose_ekf-6] killing on exit
WARNING: unable to configure logging. No log files will be generated
[create_load_calibration-5] killing on exit
[turtlebot_node-3] killing on exit
[diagnostic_aggregator-2] killing on exit
[robot_state_publisher-1] killing on exit
[WARN] [WallTime: 1426505125.351307] Rapp Manager : No preferred rapp for 'turtlebot_rapps/xbox360_teleop'. 'turtlebot_rapps/xbox360_teleop' has been selected.
[WARN] [WallTime: 1426505125.352697] Rapp Manager : No preferred rapp for 'turtlebot_rapps/follower'. 'turtlebot_rapps/follower' has been selected.
[WARN] [WallTime: 1426505125.354271] Rapp Manager : No preferred rapp for 'turtlebot_rapps/map_nav'. 'turtlebot_rapps/map_nav' has been selected.
[WARN] [WallTime: 1426505125.355725] Rapp Manager : No preferred rapp for 'turtlebot_rapps/3dsensor'. 'turtlebot_rapps/3dsensor' has been selected.
[WARN] [WallTime: 1426505125.357054] Rapp Manager : No preferred rapp for 'turtlebot_rapps/ps3_teleop'. 'turtlebot_rapps/ps3_teleop' has been selected.
[WARN] [WallTime: 1426505125.358519] Rapp Manager : No preferred rapp for 'rocon_apps/chirp'. 'rocon_apps/meow_chirp' has been selected.
[WARN] [WallTime: 1426505125.359859] Rapp Manager : No preferred rapp for 'turtlebot_rapps/make_a_map'. 'turtlebot_rapps/make_a_map' has been selected.
[WARN] [WallTime: 1426505125.361209] Rapp Manager : No preferred rapp for 'rocon_apps/video_teleop'. 'turtlebot_rapps/video_teleop' has been selected.
[WARN] [WallTime: 1426505125.364207] Rapp Manager : No preferred rapp for 'turtlebot_rapps/panorama'. 'turtlebot_rapps/panorama' has been selected.
[WARN] [WallTime: 1426505125.365556] Rapp Manager : No preferred rapp for 'rocon_apps/listener'. 'rocon_apps/listener' has been selected.
[WARN] [WallTime: 1426505125.366966] Rapp Manager : No preferred rapp for 'turtlebot_rapps/auto_docking'. 'turtlebot_rapps/auto_docking' has been selected.
[WARN] [WallTime: 1426505125.374473] Rapp Manager : No preferred rapp for 'rocon_apps/talker'. 'rocon_apps/talker' has been selected.
shutting down processing monitor...
... shutting down processing monitor complete
done
i`m new with ros and turtlebot, i have seen all the ros-answers pages related to this problem and i am not capable to solve this problem. is strange because last week i was able to bringup the robot, to test the dasboard, to calibrate de giro and odometer and after of that when i started trying to do my own program, it started to fail. I need help!! Thanks!
Asked by mikel on 2015-03-16 12:53:43 UTC
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