turtlebot minimal.launch race condition

edit

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 ...