Hi, I am currently going through the tutorial of Kokubi, but I cannot even finish the keyboard teleoperation.

I have connected the usb, and checked the connections:

ubuntu@tegra-ubuntu:~$ lsusb Bus 002 Device 009: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC Bus 002 Device 004: ID 1d27:0601 ASUS Bus 002 Device 003: ID 046d:c534 Logitech, Inc. Bus 002 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Bus 001 Device 002: ID 8087:07dc Intel Corp. Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

Obviously the first one shows kobuki is connected.

However,

ubuntu@tegra-ubuntu:~$ ls -n /dev | grep kobuki ubuntu@tegra-ubuntu:~$

and I run: roslaunch kobuki_node minimal.launch --screen got:

NODES / diagnosticaggregator (diagnosticaggregator/aggregatornode) mobilebase (nodelet/nodelet) mobilebasenodelet_manager (nodelet/nodelet)

auto-starting new master process[master]: started with pid [17229] ROSMASTERURI=http://localhost:11311

setting /runid to f22f08fc-c0b1-11d3-a516-00044b25b4e5 process[rosout-1]: started with pid [17242] started core service [/rosout] process[mobilebasenodeletmanager-2]: started with pid [17250] process[mobilebase-3]: started with pid [17258] process[diagnosticaggregator-4]: started with pid [17261] [ INFO] [946775664.071173275]: Loading nodelet /mobilebase of type kobukinode/KobukiNodelet to manager mobilebasenodeletmanager with the following remappings: [ INFO] [946775664.071336942]: /mobilebase/jointstates -> /jointstates [ INFO] [946775664.071386859]: /mobilebase/odom -> /odom [ INFO] [946775664.077612525]: waitForService: Service [/mobilebasenodeletmanager/loadnodelet] has not been advertised, waiting... [ INFO] [946775664.183440025]: Initializing nodelet with 3 worker threads. [ INFO] [946775664.186759859]: waitForService: Service [/mobilebasenodeletmanager/loadnodelet] is now available. [ WARN] [946775664.484795442]: Kobuki : no robot description given on the parameter server [ INFO] [946775664.484991109]: Kobuki : configured for connection on deviceport /dev/kobuki [/mobilebase]. [ INFO] [946775664.485107192]: Kobuki : driver running in normal (non-simulation) mode [/mobilebase]. [ INFO] [946775664.489094109]: Kobuki : Velocity commands timeout: 0.600000000 seconds [/mobilebase]. [ INFO] [946775664.492251692]: Kobuki : using odomframe [odom][/mobile_base].

[ INFO] [946775664.495483775]: Kobuki : using base_frame [basefootprint][/mobilebase].

[ INFO] [946775664.498232025]: Kobuki : publishing transforms [/mobile_base].

[ INFO] [946775664.501095359]: Kobuki : using imu data for heading [/mobile_base].

[ WARN] [946775664.505631609]: Kobuki : device does not (yet) available, is the usb connected?.

[ INFO] [946775664.506712192]: Kobuki : device does not (yet) available on this port, waiting...

[ WARN] [946775664.756774109]: Kobuki : no data stream, is kobuki turned on?

[ INFO] [946775664.759247609]: Kobuki : initialised.

[ INFO] [946775669.508199108]: Kobuki : device does not (yet) available on this port, waiting...

Could any one help to find out the reason?

Thank you, Bin