Could not set operational Mode
I am receiving the following error - Could not set operational Mode, Platform did not respond, Stopping the robot...
What could be the reason?
aswin@aswinpc:~/wizo_ws$ roslaunch segway_navigation_apps 2d_map_nav_demo.launch map_file:=map
... logging to /home/aswin/.ros/log/62947272-d273-11e6-83d0-a4db30d0de0b/roslaunch-aswinpc-18304.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://aswinpc:34605/
SUMMARY
========
CLEAR PARAMETERS
* /amcl/
* /move_base/
* /segway_move_base/
PARAMETERS
* /amcl/base_frame_id: /segway/base_link
* /amcl/first_map_only: False
* /amcl/global_frame_id: /map
* /amcl/gui_publish_rate: -1.0
* /amcl/initial_cov_aa: 0.06853
* /amcl/initial_cov_xx: 0.25
* /amcl/initial_cov_yy: 0.25
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.05
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 60
* /amcl/laser_max_range: -1.0
* /amcl/laser_min_range: -1.0
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 2000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.15
* /amcl/odom_alpha2: 0.15
* /amcl/odom_alpha3: 0.15
* /amcl/odom_alpha4: 0.15
* /amcl/odom_alpha5: 0.1
* /amcl/odom_frame_id: /odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.1
* /amcl/recovery_alpha_slow: 0.001
* /amcl/resample_interval: 1
* /amcl/save_pose_rate: 0.5
* /amcl/transform_tolerance: 0.5
* /amcl/update_min_a: 0.2
* /amcl/update_min_d: 0.25
* /amcl/use_map_topic: False
* /move_base/DWAPlannerROS/acc_lim_th: 3.2
* /move_base/DWAPlannerROS/acc_lim_x: 2.5
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/angular_sim_granularity: 0.025
* /move_base/DWAPlannerROS/controller_frequency: 20.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.5
* /move_base/DWAPlannerROS/goal_distance_bias: 24.0
* /move_base/DWAPlannerROS/latch_xy_goal_tolerance: True
* /move_base/DWAPlannerROS/max_rot_vel: 1.0
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_trans_vel: 1.0
* /move_base/DWAPlannerROS/max_vel_x: 0.5
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_rot_vel: 0.4
* /move_base/DWAPlannerROS/min_trans_vel: 0.0
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.01
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.025
* /move_base/DWAPlannerROS/path_distance_bias: 32.0
* /move_base/DWAPlannerROS/penalize_negative_x: True
* /move_base/DWAPlannerROS/prune_plan: True
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_granularity: 0.025
* /move_base/DWAPlannerROS/sim_time: 1.7
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/vtheta_samples: 10
* /move_base/DWAPlannerROS/vx_samples: 6
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.2
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.1
* /move_base/GlobalPlanner/cost_factor: 3.0
* /move_base/GlobalPlanner/lethal_cost: 100
* /move_base/GlobalPlanner/neutral_cost: 50
* /move_base/GlobalPlanner/orientation_mode: 1
* /move_base/GlobalPlanner/publish_potential: False
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2
* /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
* /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
* /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.025
* /move_base/TrajectoryPlannerROS/controller_frequency: 20.0
* /move_base/TrajectoryPlannerROS/dwa: False
* /move_base/TrajectoryPlannerROS/escape_vel: -0.1
* /move_base/TrajectoryPlannerROS/gdist_scale: 0.8
* /move_base/TrajectoryPlannerROS/global_frame_id: /odom
* /move_base/TrajectoryPlannerROS/heading_lookahead: 0.5
* /move_base/TrajectoryPlannerROS/heading_scoring: False
* /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
* /move_base/TrajectoryPlannerROS/holonomic_robot: False
* /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False
* /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
* /move_base/TrajectoryPlannerROS/max_vel_x: 1.0
* /move_base/TrajectoryPlannerROS/meter_scoring: True
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4
* /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
* /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
* /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.025
* /move_base/TrajectoryPlannerROS/pdist_scale: 0.6
* /move_base/TrajectoryPlannerROS/prune_plan: True
* /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: False
* /move_base/TrajectoryPlannerROS/sim_granularity: 0.025
* /move_base/TrajectoryPlannerROS/sim_time: 1.7
* /move_base/TrajectoryPlannerROS/vtheta_samples: 10
* /move_base/TrajectoryPlannerROS/vx_samples: 6
* /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.2
* /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
* /move_base/agressive_clear/reset_distance: 1.875
* /move_base/base_global_planner: global_planner/Gl...
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/clearing_rotation_allowed: True
* /move_base/conservative_clear/reset_distance: 3.0
* /move_base/conservative_reset_dist: 2.0
* /move_base/controller_frequency: 20.0
* /move_base/controller_patience: 10.0
* /move_base/global_costmap/footprint: [[0.525, 0.0], [0...
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/inflation/cost_scaling_factor: 10.0
* /move_base/global_costmap/inflation/inflation_radius: 0.3
* /move_base/global_costmap/obstacles_costmap2d/observation_sources: segway_scan
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/clearing: True
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/data_type: LaserScan
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/expected_update_rate: 0.5
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/inf_is_valid: True
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/marking: True
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/max_obstacle_height: 2.0
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/min_obstacle_height: 0.0
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/observation_persistence: 0.0
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/obstacle_range: 5.5
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/raytrace_range: 6.0
* /move_base/global_costmap/obstacles_costmap2d/segway_scan/topic: segway/filtered_scan
* /move_base/global_costmap/obstacles_voxel_grid/mark_threshold: 0
* /move_base/global_costmap/obstacles_voxel_grid/observation_sources: segway_point_cloud
* /move_base/global_costmap/obstacles_voxel_grid/origin_z: 0.0
* /move_base/global_costmap/obstacles_voxel_grid/publish_voxel_map: False
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/clearing: True
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/data_type: PointCloud2
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/expected_update_rate: 0.5
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/inf_is_valid: False
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/marking: True
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/max_obstacle_height: 2.0
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/min_obstacle_height: 0.0
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/observation_persistence: 0.0
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/obstacle_range: 5.5
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/raytrace_range: 6.0
* /move_base/global_costmap/obstacles_voxel_grid/segway_point_cloud/topic: segway/filtered_p...
* /move_base/global_costmap/obstacles_voxel_grid/unknown_threshold: 5
* /move_base/global_costmap/obstacles_voxel_grid/z_resolution: 0.2
* /move_base/global_costmap/obstacles_voxel_grid/z_voxels: 10
* /move_base/global_costmap/plugins: [{'type': 'costma...
* /move_base/global_costmap/publish_frequency: 1.0
* /move_base/global_costmap/robot_base_frame: segway/base_link
* /move_base/global_costmap/rolling_window: False
* /move_base/global_costmap/static/lethal_cost_threshold: 100
* /move_base/global_costmap/static/map_topic: map
* /move_base/global_costmap/static/subscribe_to_updates: True
* /move_base/global_costmap/static/unknown_cost_value: 0
* /move_base/global_costmap/track_unknown_space: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/footprint: [[0.525, 0.0], [0...
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 6.0
* /move_base/local_costmap/inflation/cost_scaling_factor: 10.0
* /move_base/local_costmap/inflation/inflation_radius: 0.3
* /move_base/local_costmap/obstacles_costmap2d/observation_sources: segway_scan
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/clearing: True
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/data_type: LaserScan
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/expected_update_rate: 0.5
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/inf_is_valid: True
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/marking: True
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/max_obstacle_height: 2.0
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/min_obstacle_height: 0.0
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/observation_persistence: 0.0
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/obstacle_range: 5.5
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/raytrace_range: 6.0
* /move_base/local_costmap/obstacles_costmap2d/segway_scan/topic: segway/filtered_scan
* /move_base/local_costmap/obstacles_voxel_grid/mark_threshold: 0
* /move_base/local_costmap/obstacles_voxel_grid/observation_sources: segway_point_cloud
* /move_base/local_costmap/obstacles_voxel_grid/origin_z: 0.0
* /move_base/local_costmap/obstacles_voxel_grid/publish_voxel_map: False
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/clearing: True
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/data_type: PointCloud2
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/expected_update_rate: 0.5
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/inf_is_valid: False
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/marking: True
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/max_obstacle_height: 2.0
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/min_obstacle_height: 0.0
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/observation_persistence: 0.0
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/obstacle_range: 5.5
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/raytrace_range: 6.0
* /move_base/local_costmap/obstacles_voxel_grid/segway_point_cloud/topic: segway/filtered_p...
* /move_base/local_costmap/obstacles_voxel_grid/unknown_threshold: 5
* /move_base/local_costmap/obstacles_voxel_grid/z_resolution: 0.2
* /move_base/local_costmap/obstacles_voxel_grid/z_voxels: 10
* /move_base/local_costmap/origin_x: -3.0
* /move_base/local_costmap/origin_y: -3.0
* /move_base/local_costmap/plugins: [{'type': 'costma...
* /move_base/local_costmap/publish_frequency: 1.0
* /move_base/local_costmap/robot_base_frame: segway/base_link
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static/lethal_cost_threshold: 100
* /move_base/local_costmap/static/map_topic: map
* /move_base/local_costmap/static/subscribe_to_updates: True
* /move_base/local_costmap/static/unknown_cost_value: 0
* /move_base/local_costmap/track_unknown_space: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/width: 6.0
* /move_base/oscillation_distance: 0.5
* /move_base/oscillation_timeout: 2.0
* /move_base/planner_frequency: 0.0
* /move_base/planner_patience: 5.0
* /move_base/recovery_behavior_enabled: True
* /move_base/recovery_behaviors: [{'type': 'clear_...
* /move_base/rotate_recovery1/frequency: 20.0
* /move_base/rotate_recovery1/sim_granularity: 0.017
* /move_base/rotate_recovery2/frequency: 20.0
* /move_base/rotate_recovery2/sim_granularity: 0.017
* /move_base/shutdown_costmaps: False
* /rosdistro: indigo
* /rosversion: 1.11.20
* /segway_move_base/global_frame: /map
* /segway_move_base/goal_timeout_sec: 300
* /segway_move_base/load_waypoints: False
* /segway_move_base/platform_mode: tractor
* /segway_move_base/sim: False
* /segway_move_base/using_amcl: True
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
segway_move_base (segway_ros/segway_move_base)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[map_server-1]: started with pid [18325]
process[segway_move_base-2]: started with pid [18326]
process[amcl-3]: started with pid [18327]
process[move_base-4]: started with pid [18328]
[ INFO] [1483530525.057099408]: Requesting the map...
[ WARN] [1483530525.057583091]: Request for map failed; trying again...
[ INFO] [1483530525.767375873, 131.407000000]: Received a 4000 X 4000 map @ 0.050 m/pix
[ INFO] [1483530525.888863325, 131.502000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1483530525.995114649, 131.593000000]: Done initializing likelihood field model.
[ERROR] [WallTime: 1483530558.553193] [160.868000] Could not set operational Mode
[INFO] [WallTime: 1483530558.553712] [160.869000] The platform did not respond,
[ERROR] [WallTime: 1483530558.553990] [160.869000] Could not set operational state
[ERROR] [WallTime: 1483530558.554237] [160.869000] Platform did not respond
[INFO] [WallTime: 1483530558.554546] [160.870000] Stopping the robot...
Asked by Aswin Sarang on 2017-01-04 07:00:50 UTC
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