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Turtlebot Restarting Continuously

asked 2012-01-26 04:53:09 -0600

Aroarus gravatar image

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


 * /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

    appmaster (app_manager/appmaster)
    app_manager (app_manager/app_manager)
    turtlebot_node (turtlebot_node/
    turtlebot_laptop_battery (turtlebot_node/
    robot_state_publisher (robot_state_publisher/state_publisher)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)


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 of <roslib.xmlrpc.XmlRpcNode object at 0x261fbd0>>
Traceback (most recent call last):
  File "/opt/ros/electric/ros/core/roslib/src/roslib/", line 195, in run
  File "/opt/ros/electric/ros/core/roslib/src/roslib/", line 218, in _run
    self.server = ThreadingXMLRPCServer((bind_address, port), log_requests)
  File "/opt/ros/electric/ros/core/roslib/src/roslib/", line 98, in __init__
    SimpleXMLRPCServer.__init__(self, addr, SilenceableXMLRPCRequestHandler, log_requests)
  File "/usr/lib/python2.7/", line 590, in __init__
    SocketServer.TCPServer.__init__(self, addr, requestHandler, bind_and_activate)
  File "/usr/lib/python2.7/", line 408, in __init__
  File "/usr/lib/python2.7/", line 419, in server_bind
  File "/usr/lib/python2.7/", 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.
loading installation data for [turtlebot_apps.installed]
[INFO] [WallTime: 1327603138.372287] Starting app manager for ...
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3 Answers

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answered 2012-01-26 05:46:36 -0600

mmwise gravatar image

updated 2012-01-26 19:49:45 -0600

Lorenz gravatar image

The turtlebot launch files run as a daemon in electric which would cause everything to continuously restart because the two launch files are killing each other and respawing. You don't need to launch minimal.launch in electric see this tutorial:

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That fixed everything! The dashboard was appearing stale when I started the turtlebot service, so I assumed that I also had to run minimal.launch (based on my diamondback experience), but it turns out that it just needed a minute to get going. Thanks!
Aroarus gravatar image Aroarus  ( 2012-01-26 06:31:54 -0600 )edit
This is no longer working, and I have generated a new post about it. It worked once, but has not done so since. Starting the turtlebot service still leaves the dashboard stale forever. The only way I can get the dashboard to light up is to kill the turtlebot service and run minimal.launch.
Aroarus gravatar image Aroarus  ( 2012-02-08 04:17:58 -0600 )edit

answered 2012-03-29 05:22:13 -0600

unine_ros gravatar image

Hello, sorry, I don't understand the Answer. What do I need to run then if not minimal? The Bringup tutorial suggests minimal.launch too.

sudo service turtlebot start > does not work. It says that the process is running but sudo service turtlebot status > says it is not

Anyone? Thanks

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answered 2012-06-17 20:56:26 -0600

sunilsulania9192 gravatar image

Hey unine_ros


sudo service turtlebot stop

Then Bringup

roslaunch turtlebot_bringup minimal.launch

hope this will solve your problems.

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Asked: 2012-01-26 04:53:09 -0600

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Last updated: Jun 17 '12