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Turtlebot failure with has_gyro=false

asked 2011-07-12 14:23:10 -0500

sunilsulania9192 gravatar image

updated 2011-07-18 13:21:56 -0500

I am using Irobot create with kinect to work like turtlebot; I do not have gyro, so i edited driver.launch to has_gyro=false; after editing i tried turtlebot_bringup again but it did not detect roomba, Roomba was connected and turned on I doublechecked it

the log was

[INFO] [WallTime: 1310523346.309227] has gyro: False
Failed to contact device with error: ['NoneType' object has no attribute 'cal_offset']. Please check that the Create is powered on and that the connector is plugged into the Create.
[turtlebot_node-3] process has finished cleanly.
log file: /home/sunny/.ros/log/d7eb1944-acf0-11e0-9460-00238bc1b481/turtlebot_node-3*.log
[turtlebot_node-3] restarting process
process[turtlebot_node-3]: started with pid [12885]
[INFO] [WallTime: 1310523354.583950] serial port: /dev/ttyUSB0
[INFO] [WallTime: 1310523354.584284] update_rate: 30.0
[INFO] [WallTime: 1310523354.584518] drive mode: twist
[INFO] [WallTime: 1310523354.584767] has gyro: False

and log file says

[rospy.impl.masterslave][INFO] 2011-07-13 11:22:03,114: atexit
[rospy.client][INFO] 2011-07-13 11:22:07,315: init_node, name[/turtlebot_node], pid[15862]
[xmlrpc][INFO] 2011-07-13 11:22:07,331: XML-RPC server binding to
[rospy.init][INFO] 2011-07-13 11:22:07,332: ROS Slave URI: []
[xmlrpc][INFO] 2011-07-13 11:22:07,332: Started XML-RPC server []
[rospy.impl.masterslave][INFO] 2011-07-13 11:22:07,332: _ready:
[xmlrpc][INFO] 2011-07-13 11:22:07,339: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2011-07-13 11:22:07,371: Registering with master node
[rospy.init][INFO] 2011-07-13 11:22:07,433: registered with master
[rospy.rosout][INFO] 2011-07-13 11:22:07,433: initializing /rosout core topic
[rospy.rosout][INFO] 2011-07-13 11:22:07,481: connected to core topic /rosout
[rospy.simtime][INFO] 2011-07-13 11:22:07,504: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rosout][INFO] 2011-07-13 11:22:07,662: serial port: /dev/ttyUSB0
[rosout][INFO] 2011-07-13 11:22:07,663: update_rate: 30.0
[rosout][INFO] 2011-07-13 11:22:07,663: drive mode: twist
[rosout][INFO] 2011-07-13 11:22:07,663: has gyro: False
[root][INFO] 2011-07-13 11:22:10,078: sending control opcodes.
[rospy.core][INFO] 2011-07-13 11:22:11,623: signal_shutdown [atexit]
[rospy.impl.masterslave][INFO] 2011-07-13 11:22:11,642: atexit

What is the problem?

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1 Answer

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answered 2011-07-18 10:15:58 -0500

mmwise gravatar image

updated 2011-07-20 15:51:55 -0500

You found a bug in diagnostics that is making the node crash when has_gyro is false.. I just committed the fix in trunk of turtlebot_node. The bug is in src/turtlebot_node/ line 132 needs to add an if gyro is not None. Check out trunk to get the fixed version

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Asked: 2011-07-12 14:23:10 -0500

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Last updated: Jul 20 '11