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Running SROS

asked 2017-07-17 07:04:05 -0600

updated 2017-07-18 06:34:24 -0600

I have installed SROS in a fresh Ubuntu 16.04 machine, following the instructions at

..and I've added the following line to my .bashrc file:

source ~/sros/install/setup.bash

I was able to successfully run the key server from SROS by issuing a "sroskeyserver" command.

However, when running "sroscore" in a separate terminal I get the following error:

initializing node's keystore: /home/david/.ros/sros/keystore/nodes/roslaunch
all startup certificates are present
... logging to /home/david/.ros/log/3ccb8758-6ba5-11e7-97cb-080027727615/roslaunch-david-VirtualBox-8839.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://david-VirtualBox:35274/
ros_comm version 1.12.0


 * /rosdistro: kinetic
 * /rosversion: 1.12.0


auto-starting new master
process[master]: started with pid [8851]
initializing node's keystore: /home/david/.ros/sros/keystore/nodes/master
all startup certificates are present

ERROR: unable to retrieve /run_id from parameter server
The traceback for the exception was written to the log file
[master] killing on exit

You can find the master log HERE and the roslaunch log HERE.

@ruffsl, can you perhaps let me know what I am doing wrong?

Thank you in advance!

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1 Answer

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answered 2017-07-20 13:57:10 -0600

ruffsl gravatar image

I think what you're missing here is first starting sroscore in training mode so that all the various topics/services and parameters can be learned during a bootstrap session i.e:
sroscore --policy_mode train

You can then sroslaunch the other nodes, then eventually take it all down and clean out the keystore and start again with out train mode when you want to enforce the new access control structure, and take the keyserver offline after that when you don't what to give out more keys.

From the SROS demo I did at ROSCon16, you can find the walkthrough I did to bootstrap my keystore. You can rewatch/copy just the walk through commands in detail here:

Sorry for not yet writing out a tutorial for it, much of it is still changing, but the sros CLI and necessary environment is mostly documented at:
for sroscore in particular:

I'm currently working on porting many of the ideas and lessons learned from SRSO1 to SROS2, but feel free to any followup questions.

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Thank you @ruffsl. After testing in train mode, I strictly followed your walkthrough, and in the beginning I ran into some issues: apparently the "sed" command you use does not work in my system. I got this exception in sroscore.

DavidPortugal gravatar image DavidPortugal  ( 2017-07-21 07:01:50 -0600 )edit

So here are my steps (w/out "sed"):

rm -rf ~/.ros


sroscore --policy_mode train

sroslaunch rospy_tutorials talker_listener.launch (Ctrl+C / listener not working)

cd ~/.ros

rm -rf sros/keystore/nodes/


sroslaunch rospy_tutorials talker_listener.launch (working!)

DavidPortugal gravatar image DavidPortugal  ( 2017-07-21 07:10:39 -0600 )edit

Good to hear!

ruffsl gravatar image ruffsl  ( 2017-07-21 19:03:34 -0600 )edit

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Asked: 2017-07-17 07:04:05 -0600

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Last updated: Jul 20 '17