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Turtlebot doesn't start rotating on calibration

asked 2011-11-15 14:04:06 -0500

130s gravatar image

updated 2011-11-15 16:18:38 -0500

It's almost the same with this question but I open as new question since that question is not closed and Turtlebot software must have been updated since then.

Calibration movement doesn't start and keeps saying "Still waiting for imu". Stdout result is below (long, sorry). On other turtlebots calibration go properly. I found that the green power light on iRobot Create goes off with the beep sound when I start running calibration launch file, even though dashboard still shows the battery amount and breakers in green.

Env) Ubuntu 10.04, ROS electric as well as turtlebot-robot

turtlebot@turtlebot-3:~$ roslaunch turtlebot_calibration calibrate.launch 
... logging to /home/turtlebot/.ros/log/eff803fe-1004-11e1-bc0b-485d6032f3ac/roslaunch-turtlebot-3-9308.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://turtlebot-ip:59709/


 * /openni_camera/depth_time_offset
 * /openni_camera/image_mode
 * /kinect_laser/output_frame_id
 * /openni_camera/depth_rgb_translation
 * /pointcloud_throttle/max_rate
 * /openni_camera/depth_mode
 * /openni_camera/shift_offset
 * /scan_to_angle/min_angle
 * /kinect_laser/min_height
 * /openni_camera/depth_rgb_rotation
 * /kinect_laser_narrow/max_height
 * /scan_to_angle/max_angle
 * /kinect_laser/max_height
 * /rosdistro
 * /openni_camera/projector_depth_baseline
 * /kinect_laser_narrow/output_frame_id
 * /rosversion
 * /openni_camera/debayering
 * /openni_camera/depth_frame_id
 * /openni_camera/image_time_offset
 * /openni_camera/depth_registration
 * /kinect_laser_narrow/min_height
 * /openni_camera/rgb_frame_id

    kinect_breaker_enabler (turtlebot_node/
    openni_manager (nodelet/nodelet)
    openni_camera (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)
    scan_to_angle (turtlebot_calibration/
    turtlebot_calibration (turtlebot_calibration/


core service [/rosout] found
process[kinect_breaker_enabler-1]: started with pid [9329]
process[openni_manager-2]: started with pid [9330]
process[openni_camera-3]: started with pid [9331]
process[pointcloud_throttle-4]: started with pid [9332]
process[kinect_laser-5]: started with pid [9333]
process[kinect_laser_narrow-6]: started with pid [9345]
process[scan_to_angle-7]: started with pid [9350]
process[turtlebot_calibration-8]: started with pid [9362]
[INFO] [WallTime: 1321415783.246879] has_gyro True
[INFO] [WallTime: 1321415783.368377] Estimating imu drift
[INFO] [WallTime: 1321415783.670546] Still waiting for imu
[INFO] [WallTime: 1321415783.972455] Still waiting for scan
[INFO] [WallTime: 1321415784.274242] Still waiting for scan
[kinect_breaker_enabler-1] process has finished cleanly.
log file: /home/turtlebot/.ros/log/eff803fe-1004-11e1-bc0b-485d6032f3ac/kinect_breaker_enabler-1*.log
[INFO] [WallTime: 1321415784.575880] Still waiting for scan
[INFO] [WallTime: 1321415784.877857] Still waiting for scan
[INFO] [WallTime: 1321415785.179778] Still waiting for scan
[INFO] [WallTime: 1321415785.481708] Still waiting for scan
[INFO] [WallTime: 1321415785.783952] Still waiting for scan
[INFO] [WallTime: 1321415786.086041] Still waiting for scan
[INFO] [WallTime: 1321415786.387849] Still waiting for scan
[INFO] [WallTime: 1321415786.690298] Still waiting for scan
[INFO] [WallTime: 1321415786.992970] Still waiting for scan
[INFO] [WallTime: 1321415787.295427] Still waiting for scan
[INFO] [WallTime: 1321415787.597576] Still waiting for scan
[ INFO] [1321415787.648486655]: [/openni_camera] Number devices connected: 1
[ INFO] [1321415787.649516784]: [/openni_camera] 1. device on bus 001:07 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00364856520048A'
[ WARN] [1321415787.653199988]: [/openni_camera] device_id is not set! Using first device.
[ INFO] [1321415787.733836961]: [/openni_camera] Opened 'Xbox NUI Camera' on bus 1:7 with serial number 'A00364856520048A'
[ INFO] [1321415787.780257377]: rgb_frame_id = 'kinect_rgb_optical_frame' 
[ INFO] [1321415787.787665082]: depth_frame_id = 'kinect_depth_optical_frame' 
[INFO] [WallTime: 1321415787.899734] Still waiting for scan
[INFO] [WallTime: 1321415788.202021] Still waiting for scan
[INFO] [WallTime: 1321415788.504294] Still ...
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does it actually halt? seems like it gets the imu data if it calculates the drift. sometimes when the create is running the light goes off but it's still running? when it says aligning base with wall it is trying to command the base to move.. check to see if cmd_vel is being published.
mmwise gravatar image mmwise  ( 2011-11-15 16:06:17 -0500 )edit

1 Answer

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answered 2011-11-16 07:38:57 -0500

130s gravatar image

Today calibration is successful. What I did before trying calibration is to re-do Turtlebot bringup tutorial (I remember I did it even before I asked this question). Anyway thank @mwise_wg and all!

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Asked: 2011-11-15 14:04:06 -0500

Seen: 603 times

Last updated: Nov 16 '11