Turtlebot Restarting Continuously

edit

I have a turtlebot that was working properly in Diamondback, but when I upgraded it to electric (and upgraded the operating system on the workstation and netbook to Ubuntu 11.10), I am having several errors with the turtlebot.

1) The turtlebot restarts it's service continuously when I launch minimal.launch or turtlebot.launch, with the following output:

    turtlebot@turtlebot-laptop:/opt/ros/electric/stacks/turtlebot/turtlebot_bringup/upstart$ roslaunch turtlebot.launch 
... logging to /home/turtlebot/.ros/log/7dcff916-484a-11e1-b127-485d607f80f5/roslaunch-turtlebot-laptop-30106.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://192.168.11.59:44682/

SUMMARY
========

PARAMETERS
 * /use_sim_time
 * /robot_pose_ekf/sensor_timeout
 * /diagnostic_aggregator/analyzers/sensors/path
 * /robot_pose_ekf/imu_used
 * /turtlebot_node/odom_angular_scale_correction
 * /robot/name
 * /diagnostic_aggregator/analyzers/mode/timeout
 * /diagnostic_aggregator/analyzers/sensors/timeout
 * /diagnostic_aggregator/analyzers/power/type
 * /turtlebot_node/update_rate
 * /diagnostic_aggregator/analyzers/power/timeout
 * /diagnostic_aggregator/analyzers/mode/type
 * /turtlebot_node/gyro_scale_correction
 * /diagnostic_aggregator/analyzers/digital_io/path
 * /diagnostic_aggregator/analyzers/digital_io/timeout
 * /rosdistro
 * /robot_pose_ekf/odom_used
 * /robot_description
 * /diagnostic_aggregator/base_path
 * /robot_pose_ekf/freq
 * /app_manager/interface_master
 * /robot_pose_ekf/vo_used
 * /diagnostic_aggregator/analyzers/sensors/type
 * /diagnostic_aggregator/analyzers/digital_io/startswith
 * /diagnostic_aggregator/analyzers/power/path
 * /robot_pose_ekf/output_frame
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/digital_io/type
 * /diagnostic_aggregator/analyzers/mode/startswith
 * /rosversion
 * /diagnostic_aggregator/pub_rate
 * /robot_state_publisher/publish_frequency
 * /diagnostic_aggregator/analyzers/sensors/startswith
 * /diagnostic_aggregator/analyzers/power/startswith
 * /turtlebot_node/bonus
 * /robot/type
 * /robot_pose_ekf/publish_tf

NODES
  /
    appmaster (app_manager/appmaster)
    app_manager (app_manager/app_manager)
    turtlebot_node (turtlebot_node/turtlebot_node.py)
    turtlebot_laptop_battery (turtlebot_node/laptop_battery.py)
    robot_state_publisher (robot_state_publisher/state_publisher)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)

ROS_MASTER_URI=http://192.168.11.59:11311

core service [/rosout] found
process[appmaster-1]: started with pid [30127]
process[app_manager-2]: started with pid [30128]
process[turtlebot_node-3]: started with pid [30129]
process[turtlebot_laptop_battery-4]: started with pid [30130]
process[robot_state_publisher-5]: started with pid [30131]
process[diagnostic_aggregator-6]: started with pid [30132]
process[robot_pose_ekf-7]: started with pid [30133]
Unhandled exception in thread started by <bound method XmlRpcNode.run of <roslib.xmlrpc.XmlRpcNode object at 0x261fbd0>>
Traceback (most recent call last):
  File "/opt/ros/electric/ros/core/roslib/src/roslib/xmlrpc.py", line 195, in run
    self._run()
  File "/opt/ros/electric/ros/core/roslib/src/roslib/xmlrpc.py", line 218, in _run
    self.server = ThreadingXMLRPCServer((bind_address, port), log_requests)
  File "/opt/ros/electric/ros/core/roslib/src/roslib/xmlrpc.py", line 98, in __init__
    SimpleXMLRPCServer.__init__(self, addr, SilenceableXMLRPCRequestHandler, log_requests)
  File "/usr/lib/python2.7/SimpleXMLRPCServer.py", line 590, in __init__
    SocketServer.TCPServer.__init__(self, addr, requestHandler, bind_and_activate)
  File "/usr/lib/python2.7/SocketServer.py", line 408, in __init__
    self.server_bind()
  File "/usr/lib/python2.7/SocketServer.py", line 419, in server_bind
    self.socket.bind(self.server_address)
  File "/usr/lib/python2.7/socket.py", line 224, in meth
    return getattr(self._sock,name)(*args)
socket.error: [Errno 98] Address already in use
[ WARN] [1327603137.252565670]: 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.
turtlebot_apps.installed
loading installation data for [turtlebot_apps.installed]
[INFO] [WallTime: 1327603138.372287] Starting app manager for ...