update system, robot_state_publisher process always die

asked 2015-05-22 12:11:46 -0600

manipulator gravatar image

updated 2015-05-23 02:26:30 -0600

Hi, all

I have meet a strange problem. I just update something in my system yesterday under the upgrade pushing notify and also used the command sudo apt-get update , But today all my ros project with rviz simulation can not work. These ros project do work well before.The phenomenon can be seen as follows.

system:ROS indigo
robot_state_publisher : ros-indigo-robot-state-publisher ,version: 1.10.4-0trusty-20150430-1718-+0000
joint_state_publisher: ros-indigo-joint-state-publisher, version:1.11.7-0trusty-20150429-0827-+0000

 1. roslaunch SIA20_moveit_config  moveit_planning_execution.launch

started roslaunch server http://XXX-ThinkPad-T500:47915/
 * /controller_joint_names: ['joint_s', 'join...
 * /mongo_wrapper_ros_XXX_ThinkPad_T500_9935_3121796978277564489/database_path: /home/XXX/industr...
 * /mongo_wrapper_ros_XXX_ThinkPad_T500_9935_3121796978277564489/overwrite: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: pr2_controller_ma...
 * /move_group/controller_manager_ns: pr2_controller_ma...


[robot_state_publisher-4] process has died [pid 10035, exit code -11, cmd /home/XXX/catkin_ws/devel/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/XXX/.ros/log/72142730-009f-11e5-9cf8-00226811834c/robot_state_publisher-4.log].
log file: /home/XXX/.ros/log/72142730-009f-11e5-9cf8-00226811834c/robot_state_publisher-4*.log

the moveit rviz GUI can be seen as followed.the GUI shows

Global Status:warn
Fixed frame: no tf data. Actual error: Fixed Frame[base_link] does not exist**

But this is warning is incredible,you know the project can work well before, then I recheck the *.srdf file. I have fixed the base_link:

 virtual_joint name="FixedBase" type="fixed" parent_frame="world" child_link="base_link"

I have no idea about that,So, I check the system in-build pr2's demo.launch. the pr2 can also work well before

2. roslaunch pr2_moveit_config   demo.launch

process[robot_state_publisher-4]: started with pid [27667]
[ WARN] [1432314173.999282162]: TF to MSG: Quaternion Not Properly Normalized

[robot_state_publisher-4] process has died [pid 27667, exit code -11, cmd /home/XXX/catkin_ws/devel/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/XXX/.ros/log/21c9d20c-00a4-11e5-bb8c-00226811834c/robot_state_publisher-4.log].
log file: /home/XXX/.ros/log/21c9d20c-00a4-11e5-bb8c-00226811834c/robot_state_publisher-4*.log

[robot_state_publisher-4] restarting process
process[robot_state_publisher-4]: started with pid [27692]
[ WARN] [1432314174.317632982]: TF to MSG: Quaternion Not Properly Normalized

[robot_state_publisher-4] process has died [pid 27692, exit code -11, cmd /home/XXX/catkin_ws/devel/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/XXX/.ros/log/21c9d20c-00a4-11e5-bb8c-00226811834c/robot_state_publisher-4.log].
log file: /home/XXX/.ros/log/21c9d20c-00a4-11e5-bb8c-00226811834c/robot_state_publisher-4*.log

[robot_state_publisher-4] restarting process........................

what is the matter with this. I have searched the internet try my best, but no problems seem like this.

so I try to update again
XXX@XXX-ThinkPad-T500:~$ sudo apt-get update
[sudo] password for XXX: 
Ign http://dk.archive.ubuntu.com trusty InRelease
Ign http://dk.archive.ubuntu.com trusty-updates InRelease                      
Ign http://security.ubuntu.com trusty-security InRelease                       
Ign http://ppa.launchpad.net trusty InRelease                                  
Ign http://dk.archive.ubuntu.com trusty-backports InRelease                    
Hit http://dk.archive.ubuntu.com trusty Release.gpg                            
Hit http://ppa.launchpad.net trusty Release.gpg                                
Get:1 http://security.ubuntu.com trusty-security Release.gpg [933 B]           
Get:2 http://dk.archive.ubuntu.com trusty-updates Release.gpg [933 B]          
Get:3 http://dk.archive.ubuntu.com trusty-backports Release.gpg [933 B]        
Get:4 http://security.ubuntu.com trusty-security Release [63,5 kB]             
Hit http://dk.archive.ubuntu.com trusty-backports/restricted Translation-en    
Hit http://dk.archive.ubuntu.com ...
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tfoote gravatar image tfoote  ( 2015-05-22 12:48:15 -0600 )edit

Please use block quotes for console output and don't add characters or formatting.

tfoote gravatar image tfoote  ( 2015-05-22 12:50:48 -0600 )edit

hi,tfoote, I have read the information contained in the link,but ,I can not understand the meaning. how to solve it

manipulator gravatar image manipulator  ( 2015-05-22 12:56:42 -0600 )edit

Yeah, I just noticed a similarity between updating and a problem with robot_state_publisher. You should try to track down the source of the invalid quaternion. It's possibly the reason robot_state_publisher is crashing.

tfoote gravatar image tfoote  ( 2015-05-22 13:02:16 -0600 )edit

Your errors with apt-get are completely unrelated to ROS and suggest that you have either poor connectivitiy to your ubuntu apt mirror or that they are incomplete or out of date.

tfoote gravatar image tfoote  ( 2015-05-24 03:29:10 -0600 )edit