rviz process died on kinetic + debian, publisherupdate/tf connection refused error

asked 2017-04-15 04:17:11 -0600

Bas gravatar image

updated 2017-04-16 14:00:40 -0600


I'm trying out my robot configuration on Kinetic + Debian Jessie. I have also installed the ROS-I packages, including industrial-core and I've build industrial-moveit from source (not sure I needed that package too. Built after I saw these errors, and building didn't solve it). When I launch the demo launch file all seems to work. I get a warning about deprecated messages. That's logical since I try to use my indigo configs, and I need to see if and where I need to change for kinetic.

[ WARN] [1492246179.456638579]: Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml!

[ WARN] [1492246179.457501942]: Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml!

then after I get the message "you can start planning now" rviz crashes with the following message

[rviz_xw6600_2762_3121412043575825610-5] process has died [pid 2819, exit code -11, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/machinekit/catkin_ws/src/matilda_moveit_config/launch/moveit.rviz __name:=rviz_xw6600_2762_3121412043575825610 __log:=/home/machinekit/.ros/log/74be51e0-21b8-11e7-b05d-001f2900ec6f/rviz_xw6600_2762_3121412043575825610-5.log]. log file: /home/machinekit/.ros/log/74be51e0-21b8-11e7-b05d-001f2900ec6f/rviz_xw6600_2762_3121412043575825610-5*.log

from master.log in the mentioned log files directory i see the following:

[rosmaster.master][INFO] 2017-04-15 11:02:00,238: publisherUpdate[/tf] -> http://xw6600:34005/ []
[rosmaster.master][INFO] 2017-04-15 11:02:00,239: publisherUpdate[/tf] -> http://xw6600:34005/ []: sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2017-04-15 11:02:00,240: Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(*args)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in __call__
    return self.__send(self.__name, args)

  File "/usr/lib/python2.7/xmlrpclib.py", line 1591, in __request
  File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1301, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1448, in send_content
  File "/usr/lib/python2.7/httplib.py", line 1035, in endheaders

  File "/usr/lib/python2.7/httplib.py", line 879, in _send_output
  File "/usr/lib/python2.7/httplib.py", line 841, in send
  File "/usr/lib/python2.7/httplib.py", line 822, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 571, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2017-04-15 11:02:00,240: publisherUpdate[/tf_static] -> http://xw6600:34005/ []
[rosmaster.master][INFO] 2017-04-15 11:02:00,240: publisherUpdate[/tf_static] -> http://xw6600:34005/ []: sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2017-04-15 11:02:00,241: Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result ...
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Is this an ARM system? That is not a good combination unfortunately: ros+rviz+arm+segfault.

The Connection refused error in master.log is probably unrelated, but would be something to look into. Try setting ROS_IP on all involved hosts.

gvdhoorn gravatar imagegvdhoorn ( 2017-04-16 00:46:55 -0600 )edit

no, this is an x64 system with an RT PREEMPT kernel..

machinekit@xw6600:~$ uname -a
Linux xw6600 4.1.36-rt42bdb #2 SMP PREEMPT RT Mon Jan 2 23:56:57 CET 2017 x86_64 GNU/Linux

I've set ROS_IP= and ROS_MASTER_URI= and the fault is still there

Bas gravatar imageBas ( 2017-04-16 04:25:08 -0600 )edit

looking if this has something to do with the URDF file I tried to launch the movit_setup_assistand. This crashed too.

the terninal: https://pastebin.com/3FVLXdTW the roslaunch.log: https://pastebin.com/sTpyZf3T

Bas gravatar imageBas ( 2017-04-16 04:43:32 -0600 )edit

Does RViz always crash, or only with MoveIt configurations? You can test that by running a roscore and in a different terminal start rviz (the binary).

Do you have the appropriate NVidia or AMD drivers installed for your graphics card?

The connection refused is not important for now.

gvdhoorn gravatar imagegvdhoorn ( 2017-04-16 04:43:46 -0600 )edit

Could I ask you to include all logs / console copy-pastes into your question text directly? pastebin doesn't have infinite retention, so keeping things together keeps this question intact for future readers. Just edit it in using the edit button/link.

gvdhoorn gravatar imagegvdhoorn ( 2017-04-16 04:45:22 -0600 )edit

I've updated the original question with links to full logs since I cannot upload as attachments, and copy/paste these many files to the question seems silly.

Bas gravatar imageBas ( 2017-04-16 06:44:31 -0600 )edit

Seeing as RViz works I assume you have, but do you have the nvidia binary drivers installed?

I've seen more reports about RViz crashing with MoveIt related tools. You could check the moveit issue tracker.

gvdhoorn gravatar imagegvdhoorn ( 2017-04-16 07:03:51 -0600 )edit

Also: how did you install ROS? Using a source build, or the OSRF provided packages? In any case: make sure you don't have any partial updates, and also: make sure you haven't mixed the Debian Science provided pkgs with those from packages.ros.org.

gvdhoorn gravatar imagegvdhoorn ( 2017-04-16 07:04:44 -0600 )edit