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device_id is not set on kinect.launch for turtlebot

asked 2011-12-02 09:22:57 -0500

saltzm gravatar image

updated 2016-10-24 08:33:47 -0500

ngrennan gravatar image

Turtlebot dashboard is showing no errors, the first four squares are green as they should be, and it is in full mode. I started it up using roslaunch turtlebot_bringup minimal.launch and then in a separate terminal window I issued the command roslaunch turtlebot_bringup kinect.launch, only to receive a barrage of what seem to be errors:

    roslaunch turtlebot_bringup kinect.launch 
... logging to /home/turtlebot/.ros/log/62dbe61c-1d28-11e1-bb3f-0012f0704d87/roslaunch-ubuntu-9087.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://172.20.110.90:59699/

SUMMARY
========

PARAMETERS
 * /kinect_laser/max_height

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

NODES
  /
    kinect_breaker_enabler (turtlebot_node/kinect_breaker_enabler.py)

    openni_manager (nodelet/nodelet)
    openni_camera (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)

ROS_MASTER_URI=http://172.20.110.90:11311

core service [/rosout] found

process[kinect_breaker_enabler-1]: started with pid [9107]

process[openni_manager-2]: started with pid [9108]

process[openni_camera-3]: started with pid [9109]

process[pointcloud_throttle-4]: started with pid [9110]

process[kinect_laser-5]: started with pid [9111]

process[kinect_laser_narrow-6]: started with pid [9112]

[rospack] opendir error [No such file or directory] while crawling /home/turtlebot/ros_workspace

[kinect_breaker_enabler-1] process has finished cleanly.

log file: /home/turtlebot/.ros/log/62dbe61c-1d28-11e1-bb3f-0012f0704d87/kinect_breaker_enabler-1*.log

[ INFO] [1322866769.985481656]: [/openni_camera] Number devices connected: 1

[ INFO] [1322866769.987326721]: [/openni_camera] 1. device on bus 001:13 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B00365619884052B'

[ WARN] [1322866769.993239659]: [/openni_camera] device_id is not set! Using first device.

[openni_manager-2] process has died [pid 9108, exit code -4].
log files: /home/turtlebot/.ros/log/62dbe61c-1d28-11e1-bb3f-0012f0704d87/openni_manager-2*.log

respawning...

[openni_manager-2] restarting process
process[openni_manager-2]: started with pid [9354]

[kinect_laser-5] process has finished cleanly.
log file: /home/turtlebot/.ros/log/62dbe61c-1d28-11e1-bb3f-0012f0704d87/kinect_laser-5*.log
respawning...

[kinect_laser-5] restarting process
process[kinect_laser-5]: started with pid [9423]
[pointcloud_throttle-4] process has finished cleanly.
log file: /home/turtlebot/.ros/log/62dbe61c-1d28-11e1-bb3f-0012f0704d87/pointcloud_throttle-4*.log

respawning...

[pointcloud_throttle-4] restarting process
process[pointcloud_throttle-4]: started with pid [9575]

[openni_camera-3] process has finished cleanly.
log file: /home/turtlebot/.ros/log/62dbe61c-1d28-11e1-bb3f-0012f0704d87/openni_camera-3*.log

respawning...

[kinect_laser_narrow-6] process has finished cleanly.
log file: /home/turtlebot/.ros/log/62dbe61c-1d28-11e1-bb3f-0012f0704d87/kinect_laser_narrow-6*.log

respawning...

[openni_camera-3] restarting process
process[openni_camera-3]: started with pid [9596]

[kinect_laser_narrow-6] restarting process
process[kinect_laser_narrow-6]: started with pid [9597]

[ INFO] [1322866793.702252097]: [/openni_camera] Number devices connected: 1

[ INFO] [1322866793.703281897]: [/openni_camera] 1. device on bus 001:13 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B00365619884052B'

[ WARN] [1322866793.705789075]: [/openni_camera] device_id is not set! Using first device.

[openni_manager-2] process has died [pid 9354, exit code -4].
log files: /home/turtlebot/.ros/log/62dbe61c-1d28-11e1-bb3f-0012f0704d87/openni_manager-2*.log

respawning...

[openni_manager-2] restarting process
process[openni_manager-2]: started with pid [9648]

[kinect_laser-5] process has finished cleanly.
log file: /home/turtlebot/.ros/log/62dbe61c-1d28-11e1-bb3f-0012f0704d87/kinect_laser-5*.log

respawning...

[kinect_laser-5] restarting process
process[kinect_laser-5]: started with pid [9704]

[pointcloud_throttle-4] process ...
(more)
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Comments

Don't get hung up on the "device_id" message, as this is normal (we haven't set the device_id, so it just uses the first kinect attached, and as the turtlebot only has one kinect this works fine). Your problem is that openni_manager is dying -- are there any other roslaunch files running?
fergs gravatar image fergs  ( 2011-12-02 12:08:39 -0500 )edit
i had turtlebot_bringup minimal.launch running as well because the start/stop services don't seem to do anything and that's the only way i've been able to get the turtlebot up and running. but i had it running while i ran the keyboard teleoperation and it worked fine.
saltzm gravatar image saltzm  ( 2011-12-04 06:28:36 -0500 )edit
when you see nodes starting and dying immediately it usually means that there is another instance of the node already running. do a ps aux |grep ros and look for the process running in the background.
mmwise gravatar image mmwise  ( 2011-12-08 06:54:18 -0500 )edit
Thanks for the help. The nodes were indeed running in the background but I'm having some more trouble resolving that issue. Please see the edit above for more information. Thanks again
saltzm gravatar image saltzm  ( 2011-12-11 11:19:29 -0500 )edit

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answered 2011-12-12 12:04:24 -0500

mmwise gravatar image

When you see nodes starting and dying immediately it usually means that there is another instance of the node already running. do a ps aux |grep ros and look for the process running in the background.

Sometimes the openni_nodes don't go down cleanly just do a kill -9 on those processes.

Also given the above output it looks like you might not have your ROS_IP set in your environments. To check you can always open a terminal and type

env|grep ROS

this shows the values for all the ROS environment variables. If you ROS_IP is not set or set properly on one or more of the computers this should help you find the problem. Also you could review the networking tutorial here: http://ros.org/wiki/Robots/TurtleBot/Network%20Setup

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Asked: 2011-12-02 09:22:57 -0500

Seen: 1,441 times

Last updated: Dec 12 '11