the error about "roslaunch"when driving the teleoperating part

asked 2018-06-23 14:49:21 -0600

updated 2018-06-23 15:18:18 -0600

jayess gravatar image

I just following the guide: http://learn.turtlebot.com/ and when testing turtleBot Installation using the command:

roslaunch turtlebot_bringup minimal.launch

it just run successfully(seems to) and print this :

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: turtlebot
 * /app_manager/robot_type: turtlebot
 * /app_manager/screen: True
 * /app_manager/simulation: False
 * /app_manager/use_gateway_uuids: False
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /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: /home/luzixuan/tu...
 * /description: Kick-ass ROS turtle
 * /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
 * /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
 * /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
 * /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
 * /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
 * /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
 * /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
 * /diagnostic_aggregator/analyzers/power/path: Power System
 * /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/power/timeout: 5.0
 * /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
 * /diagnostic_aggregator/analyzers/sensors/path: Sensors
 * /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
 * /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
 * /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...
 * /mobile_base/base_frame: base_footprint
 * /mobile_base/battery_capacity: 16.5
 * /mobile_base/battery_dangerous: 13.2
 * /mobile_base/battery_low: 14.0
 * /mobile_base/cmd_vel_timeout: 0.6
 * /mobile_base/device_port: /dev/kobuki
 * /mobile_base/odom_frame: odom
 * /mobile_base/publish_tf: True
 * /mobile_base/use_imu_heading: True
 * /mobile_base/wheel_left_joint_name: wheel_left_joint
 * /mobile_base/wheel_right_joint_name: wheel_right_joint
 * /name: turtlebot
 * /robot/name: turtlebot
 * /robot/type: turtlebot
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 5.0
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /turtlebot_laptop_battery/acpi_path: /sys/class/power_...
 * /use_sim_time: False
 * /zeroconf/zeroconf/services: [{'domain': 'loca...

NODES
  /zeroconf/
    zeroconf (zeroconf_avahi/zeroconf)
  /
    app_manager (rocon_app_manager/rapp_manager.py)
    bumper2pointcloud (nodelet/nodelet)
    capability_server (capabilities/capability_server)
    cmd_vel_mux (nodelet/nodelet)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    interactions (rocon_interactions/interactions_manager.py)
    master (rocon_master_info/master.py)
    mobile_base (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)

auto-starting new master
process[master]: started with pid [30240]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5e19e66a-771c-11e8-a2ed-1008b1db0ce9
process[rosout-1]: started with pid [30253]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [30271]
process[diagnostic_aggregator-3]: started with pid [30272]
process[mobile_base_nodelet_manager-4]: started with pid [30273]
process[mobile_base-5]: started with pid [30275]
process[bumper2pointcloud-6]: started with pid [30285]
process[cmd_vel_mux-7]: started with pid [30298]
process[turtlebot_laptop_battery-8]: started with pid [30309]
process[capability_server-9]: started with pid [30319]
process[app_manager-10]: started with pid [30329]
process[master-11]: started with pid [30333]
process[interactions-12]: started with pid [30341]
process ...
(more)
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Comments

1

Afaik this is not a problem: the computer (laptop?) running the turtlebot software doesn't expose any battery information through ACPI, so the turtlebot_laptop_battery cannot read it. It prints that info and then exits. All the other nodes should still be running.

gvdhoorn gravatar imagegvdhoorn ( 2018-06-23 14:53:04 -0600 )edit