Error in connecting to SegwayRMP [closed]

asked 2014-06-24 18:32:20 -0500

ajain

281 ●13 ●19 ●25

updated 2014-06-24 18:55:10 -0500

William

17335 ●101 ●182 ●262 http://wjwwood.io/

The goal of my small project is to control SegwayRMP 210 with a joystick using ROS (Ubuntu 12.04 with ROS Hydro). I installed the segway RMP package using the following command

sudo apt-get install ros-hydro-segway-rmp

Which i beleive is the same package as available on https://github.com/segwayrmp/segway-r...

I am able to correctly install and run the package but the ROS node does not connect to Segway RMP robot using serial.

Command line execution of ROS node:

rosrun segway_rmp segway_rmp_node _interface_type:="serial" _serial_port="/dev/ttyACM0"

Output:

[ INFO] [1403651441.961049099]: Accel limits: linear: pos = 0.000000, neg = 0.000000, angular: pos = 0.000000, neg = 0.000000.
[ INFO] [1403651441.966015479]: Velocity limits: linear: 0.000000, angular: 0.000000.
[ INFO] [1403651441.975693745]: Connecting to Segway RMP via serial on serial port: /dev/ttyACM0
[ERROR] [1403651441.987917081]: Exception while connecting to the SegwayRMP, check your cables and power buttons.
[ERROR] [1403651441.988096560]:     ConnectionFailedException occurred at line 36 of `/tmp/buildd/ros-hydro-libsegwayrmp-0.2.10-0precise-20140617-0350/src/impl/rmp_serial.cc`: Error connecting to the SegwayRMP: IO Exception (13): Permission denied, file /tmp/buildd/ros-hydro-serial-1.1.7-0precise-20140617-0113/src/impl/unix.cc, line 150.
[ WARN] [1403651441.988215851]: Not connected to the SegwayRMP, will retry in 5 seconds...
[ERROR] [1403651446.988773196]: Exception while connecting to the SegwayRMP, check your cables and power buttons.
[ERROR] [1403651446.988898198]:     
[ WARN] [1403651446.988958962]: Not connected to the SegwayRMP, will retry in 5 seconds...
[ERROR] [1403651451.989506473]: Exception while connecting to the SegwayRMP, check your cables and power buttons.
[ERROR] [1403651451.989643138]:     ConnectionFailedException occurred at line 36 of `/tmp/buildd/ros-hydro-libsegwayrmp-0.2.10-0precise-20140617-0350/src/impl/rmp_serial.cc`: Error connecting to the SegwayRMP: IO Exception (13): Permission denied, file /tmp/buildd/ros-hydro-serial-1.1.7-0precise-20140617-0113/src/impl/unix.cc, line 150.

All I can grab from the above log is that there is certainly some comms issue. Questions:

Is libsegwayrmp compatible with Segway RMP 210?
Does a serial port change from ttyUSB to ttyACM make a significant difference to execution?

Looking forward to a reply. Thanks in advance.

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Closed for the following reason the question is answered, right answer was accepted by ajain
close date 2015-01-05 12:38:48.460338

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Comments

Thanks for a quick reply. Setting myself a part of dialout group makes it work fine. Now I get the following output: [ INFO] [1403655725.984780098]: Accel limits: linear: pos = 0.000000, neg = 0.000000, angular: pos = 0.000000, neg = 0.000000. [ INFO] [1403655725.989906440]: Velocity limits: linear: 0.000000, angular: 0.000000. [ INFO] [1403655726.006345509]: Connecting to Segway RMP via serial on serial port: /dev/ttyACM0 [ INFO] [1403655726.023023196]: Segway RMP Ready. [ERROR] [1403655727.023388855]: No data from Segway... I believe that rosnode is not able to receive and parse data from Segway because of new API. Let me know if I'm correct or this can be fixed.