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turtlebot minimal.launch race condition

asked 2015-08-11 05:06:00 -0600

Matt gravatar image

Has anyone else encountered this race condition when running roslaunch turtlebot_bringup minimal.launch?

The problem is that the turtlebot's interactions manager is being started, failing to connect to the app manager and committing suicide all before the app manager is able to start.

On line 79 of /opt/ros/indigo/lib/python2.7/dist-packages/rocon_interactions/rapp_handler.py it tries to wait but fails because the app manager hasn't yet been able to open its network ports.

start_rapp_service_name = rocon_python_comms.find_service('rocon_app_manager_msgs/StartRapp', timeout=rospy.rostime.Duration(60.0), unique=True)

???@???:~$ roslaunch turtlebot_bringup minimal.launch --screen
... logging to /home/???/.ros/log/d342f098-400c-11e5-99f4-e006e68921e1/roslaunch-???-18545.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://???:51355/

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/preferred: [{'rocon_apps/chi...
 * /app_manager/rapp_package_blacklist: []
 * /app_manager/rapp_package_whitelist: ['rocon_apps', 't...
 * /app_manager/robot_icon: turtlebot_bringup...
 * /app_manager/robot_name: michelangelo
 * /app_manager/robot_type: turtlebot
 * /app_manager/screen: True
 * /app_manager/simulation: False
 * /app_manager/use_gateway_uuids: 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/KobukiCliffDetection: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiLED1: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiLED2: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiLED: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiWheelDropDetection: kobuki_capabiliti...
 * /capability_server/defaults/std_capabilities/Diagnostics: turtlebot_capabil...
 * /capability_server/defaults/std_capabilities/DifferentialMobileBase: kobuki_capabiliti...
 * /capability_server/defaults/std_capabilities/LaserSensor: turtlebot_capabil...
 * /capability_server/defaults/std_capabilities/RGBDSensor: turtlebot_capabil...
 * /capability_server/defaults/std_capabilities/RobotStatePublisher: turtlebot_capabil...
 * /capability_server/defaults/turtlebot_capabilities/TurtleBotBringup: turtlebot_capabil...
 * /capability_server/nodelet_manager_name: capability_server...
 * /capability_server/package_whitelist: ['kobuki_capabili...
 * /cmd_vel_mux/yaml_cfg_file: /opt/ros/indigo/s...
 * /description: Kick-ass ROS turtle
 * /diagnostic_aggregator/analyzers/digital_io/path: Digital IO
 * /diagnostic_aggregator/analyzers/digital_io/startswith: ['Digital Outputs']
 * /diagnostic_aggregator/analyzers/digital_io/timeout: 5.0
 * /diagnostic_aggregator/analyzers/digital_io/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/mode/path: Mode
 * /diagnostic_aggregator/analyzers/mode/startswith: ['Operating Mode']
 * /diagnostic_aggregator/analyzers/mode/timeout: 5.0
 * /diagnostic_aggregator/analyzers/mode/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/nodes/contains: ['Node']
 * /diagnostic_aggregator/analyzers/nodes/path: Nodes
 * /diagnostic_aggregator/analyzers/nodes/timeout: 5.0
 * /diagnostic_aggregator/analyzers/nodes/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/power/path: Power System
 * /diagnostic_aggregator/analyzers/power/startswith: ['Battery', 'Char...
 * /diagnostic_aggregator/analyzers/power/timeout: 5.0
 * /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/sensors/path: Sensors
 * /diagnostic_aggregator/analyzers/sensors/startswith: ['Cliff Sensor', ...
 * /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
 * /diagnostic_aggregator/analyzers/sensors/type: GenericAnalyzer
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /icon: turtlebot_bringup...
 * /interactions/interactions: ['turtlebot_bring...
 * /interactions/pairing: True
 * /interactions/rosbridge_address: localhost
 * /interactions/rosbridge_port: 9090
 * /interactions/webserver_address: webapp.robotconce...
 * /name: michelangelo
 * /robot/name: turtlebot
 * /robot/type: turtlebot
 * /robot_description: <?xml version="1....
 * /robot_pose_ekf/freq: 10.0
 * /robot_pose_ekf/imu_used: True
 * /robot_pose_ekf/odom_used: True
 * /robot_pose_ekf/output_frame: odom
 * /robot_pose_ekf/publish_tf: True
 * /robot_pose_ekf/sensor_timeout: 1.0
 * /robot_pose_ekf/vo_used: False
 * /robot_state_publisher/publish_frequency: 5.0
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /turtlebot_laptop_battery/acpi_path: /proc/acpi/batter...
 * /turtlebot_node/bonus: False
 * /turtlebot_node/port: /dev/ttyUSB0
 * /turtlebot_node/update_rate: 30.0
 * /use_sim_time: False
 * /zeroconf/zeroconf/services: [{'domain': 'loca...

NODES
  /zeroconf/
    zeroconf (zeroconf_avahi/zeroconf)
  /
    app_manager (rocon_app_manager/rapp_manager.py)
    capability_server (capabilities/capability_server)
    cmd_vel_mux (nodelet/nodelet)
    create_load_calibration (create_node/load_calib.py)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    interactions (rocon_interactions/interactions_manager.py)
    kinect_breaker_enabler (create_node/kinect_breaker_enabler.py)
    master (rocon_master_info/master.py)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_pose_ekf (robot_pose_ekf ...
(more)
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1 Answer

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answered 2015-09-02 18:57:55 -0600

jihoonl gravatar image

It might have racing condition in https://github.com/robotics-in-concer... .

However, it waits 60 seconds for the topics to be ready. which should be enough time for turtlebot to be started in most of recent laptops. So I would suggest to try with other laptops. Or increase the timeout in source level.

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Asked: 2015-08-11 05:06:00 -0600

Seen: 215 times

Last updated: Sep 02 '15