Error bringing up the robot:[WARN] Create : robot not connected yet, sci not available

asked 2015-03-16 12:53:43 -0600

mikel gravatar image

updated 2015-03-16 16:21:19 -0600

Hello:

I`m trying to use the robot turtlebot create with a kinect, using Ubuntu14.04 and ROS Indigo on the server and on the robot netbook. I have followed this tutorials in the ros wiki for the installation steps and configuration:

I have installed this drivers for the kinect:

sudo apt-get install libusb-1.0-0-dev
sudo apt-get install freenect libfreenect-dev

and i have tested with: freenect-glview 0, and it works.

I have this settings in my laptop, ~/.bashrc file:

source /opt/ros/indigo/setup.bash
export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=kinect
export TURTLEBOT_SERIAL_PORT=/dev/ttyUSB0
export TURTLEBTO_BATTERY=/sys/class/power_supply/BAT1
export ROS_MASTER_URI=http://10.1.28.31:11311
export ROS_HOST_NAME=10.1.28.117

and in the netbook, ~/.bashrc file:

source /opt/ros/indigo/setup.bash
export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=kinect
export TURTLEBOT_SERIAL_PORT=/dev/ttyUSB0
export TURTLEBTO_BATTERY=/sys/class/power_supply/BAT1
export ROS_MASTER_URI=http://10.1.28.31:11311
export ROS_HOST_NAME=10.1.28.31

-lsusb:

Bus 001 Device 007: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Bus 001 Device 005: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 006: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
...
Bus 002 Device 002: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC
...

-dmesg:

ftdi_sio 2-1:1.0: FTDI USB Serial Device converter detected
usb 2_1: Detected FT232RL
usb 2_1: Number of endpoints 2
usb 2_1: Endpoint 1 MaxPacketSize 64
usb 2_1: Endpoint 2 MaxPacketSize 64
usb 2_1: Setting MaxPacketSize 64
usb 2_1: FTDI USB Serial Device converter now attached to ttyUSB0

-ls -l /dev/ttyUSB0:

crwxrwxrwx 1 root dialout 188, 0 mar 16 18:19 /dev/ttyUSB0

I have create an Udev rule in /etc/udev/rules.d/92-pruebas.rules:

#SERIAL
KERNEL=="tty", GROUP=="dialout", MODE=="0777"

I have edit the file /etc/group:

...
dialout:x:20:turtlebot
...
tty:x:5:turtlebot
...

(turtlebot is the name of the user in the netbook)

i have disable the firewall on my laptop and on netbook:

sudo ufw disable

(for getting all ports of the robot netbook open)

when i do: roslaunch turtlebot_bringup minimal.launch, the robot swich off, getting this message:

turtlebot@turtlebot-00:~$ roslaunch turtlebot_bringup minimal.launch
... logging to /home/turtlebot/.ros/log/edefbf1e-cbce-11e4-9572-002185543cff/roslaunch-turtlebot-00-6055.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://10.1.28.31:38531/

SUMMARY
========

PARAMETERS
 * /app_manager/auto_rapp_installation: False
 * /app_manager/auto_start_rapp: 
 * /app_manager/capability_server_name: capability_server
 * /app_manager/local_remote_controllers_only: False
 * /app_manager/rapp_package_blacklist: []
 * /app_manager/rapp_package_whitelist: ['rocon_apps', 't...
 * /app_manager/remote_controller_blacklist: []
 * /app_manager/remote_controller_whitelist: []
 * /app_manager/robot_icon: turtlebot_bringup...
 * /app_manager/robot_name: turtlebot
 * /app_manager/robot_type: turtlebot
 * /app_manager/screen: True
 * /app_manager/simulation: False
 * /capability_server/blacklist: ['std_capabilitie...
 * /capability_server/defaults/kobuki_capabilities/KobukiBringup: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiBumper: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities ...
(more)
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