Turtlebot_bringup[WARN]Create : robot not connected yet, sci not available

edit

Hi, every body. When I use the command line "roslaunch turtlebot_bringup minimal.launch", this "[warn]Create: robot not connected yet, sci not available" always occurs. I use the Hydro edition in Ubuntu 12.04. And the turtlebot was bulid by myself with a Lenovo laptop and iRobot Create.

Here is the detail:

> turtlebot@turtlebot:~/turtlebot/src/irobot/irobot_create_2_1/src/irobot_create_2_1$
> roslaunch turtlebot_bringup
> minimal.launch  ... logging to
> /home/turtlebot/.ros/log/45c9215e-d42b-11e3-9c80-001e6557542c/roslaunch-turtlebot-14349.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://192.168.1.104:48516/
> 
> SUMMARY
> ========
> 
> PARAMETERS  *
> /cmd_vel_mux/yaml_cfg_file  *
> /diagnostic_aggregator/analyzers/digital_io/path
> * /diagnostic_aggregator/analyzers/digital_io/startswith
> * /diagnostic_aggregator/analyzers/digital_io/timeout
> * /diagnostic_aggregator/analyzers/digital_io/type
> * /diagnostic_aggregator/analyzers/mode/path
> * /diagnostic_aggregator/analyzers/mode/startswith
> * /diagnostic_aggregator/analyzers/mode/timeout
> * /diagnostic_aggregator/analyzers/mode/type
> * /diagnostic_aggregator/analyzers/nodes/contains
> * /diagnostic_aggregator/analyzers/nodes/path
> * /diagnostic_aggregator/analyzers/nodes/timeout
> * /diagnostic_aggregator/analyzers/nodes/type
> * /diagnostic_aggregator/analyzers/power/path
> * /diagnostic_aggregator/analyzers/power/startswith  * /diagnostic_aggregator/analyzers/power/timeout
> * /diagnostic_aggregator/analyzers/power/type
> * /diagnostic_aggregator/analyzers/sensors/path
> * /diagnostic_aggregator/analyzers/sensors/startswith
> * /diagnostic_aggregator/analyzers/sensors/timeout
> * /diagnostic_aggregator/analyzers/sensors/type
> * /diagnostic_aggregator/base_path  * /diagnostic_aggregator/pub_rate  *
> /robot/name  * /robot/type  *
> /robot_description  *
> /robot_pose_ekf/freq  *
> /robot_pose_ekf/imu_used  *
> /robot_pose_ekf/odom_used  *
> /robot_pose_ekf/output_frame  *
> /robot_pose_ekf/publish_tf  *
> /robot_pose_ekf/sensor_timeout  *
> /robot_pose_ekf/vo_used  *
> /robot_state_publisher/publish_frequency
> * /rosdistro  * /rosversion  * /turtlebot_laptop_battery/acpi_path  *
> /turtlebot_node/bonus  *
> /turtlebot_node/port  *
> /turtlebot_node/update_rate  *
> /use_sim_time
> 
> NODES   /
>     cmd_vel_mux (nodelet/nodelet)
>     diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
>     kinect_breaker_enabler (create_node/kinect_breaker_enabler.py)
>     mobile_base_nodelet_manager (nodelet/nodelet)
>     robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
>     robot_state_publisher (robot_state_publisher/robot_state_publisher)
>     turtlebot_laptop_battery (linux_hardware/laptop_battery.py)
>     turtlebot_node (create_node/turtlebot_node.py)
> 
> ROS_MASTER_URI=http://192.168.1.104:11311
> 
> core service [/rosout] found
> process[robot_state_publisher-1]:
> started with pid [14370]
> process[diagnostic_aggregator-2]:
> started with pid [14391]
> process[turtlebot_node-3]: started
> with pid [14474]
> process[kinect_breaker_enabler-4]:
> started with pid [14475]
> process[robot_pose_ekf-5]: started
> with pid [14479]
> process[mobile_base_nodelet_manager-6]:
> started with pid [14517]
> process[cmd_vel_mux-7]: started with
> pid [14587] [WARN] [WallTime:
> 1399283836.636816] Create : robot not connected yet, sci not available
> process[turtlebot_laptop_battery-8]:
> started with pid [14669] [WARN]
> [WallTime: 1399283839.642510] Create :
> robot not connected yet, sci not
> available [kinect_breaker_enabler-4]
> process has finished cleanly
> 
> log file:
> /home/turtlebot/.ros/log/45c9215e-d42b-11e3-9c80-001e6557542c/kinect_breaker_enabler-4*.log

I have tried several solutions on the web, but none works. Some of them are:

1. Change the permission of /dev/ttyUSB0 using "chmod 777"

2. Change the type of TURTLEBOT_BASE in file minimal.launch

3. Install the driver on the page http://wiki.ros.org/irobot_create_2_1 But this conflicts with the driver in the turtlebot package.

4. Change the code in turtlebot_node.py: def set_operation_mode(self,req): if not self.robot.sci: raise Exception("Robot not connected, SCI not available")

   It is definitely related with self.robot.sci, but I still have no idea of what causes the warning。

Any ideas? Thanks.