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minimal.launch > constantly restarting vol2.

asked 2012-03-29 05:41:49 -0500

unine_ros gravatar image

updated 2012-03-29 20:12:30 -0500

tfoote gravatar image

Hi, I'm aware of the previous topic about it, but still know what to do. When I execute $ roslaunch turtlebot_bringup minimal.launch

I'm getting:

...

 * /robot_description
 * /diagnostic_aggregator/base_path
 * /robot_pose_ekf/freq
 * /robot_pose_ekf/publish_tf
 * /app_manager/interface_master
 * /robot_pose_ekf/vo_used
 * /diagnostic_aggregator/analyzers/sensors/type
 * /diagnostic_aggregator/analyzers/digital_io/startswith
 * /diagnostic_aggregator/analyzers/power/path
 * /robot_pose_ekf/output_frame
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/digital_io/type
 * /diagnostic_aggregator/analyzers/mode/startswith
 * /rosversion
 * /diagnostic_aggregator/pub_rate
 * /robot_state_publisher/publish_frequency
 * /diagnostic_aggregator/analyzers/sensors/startswith
 * /diagnostic_aggregator/analyzers/power/startswith
 * /turtlebot_node/bonus
 * /robot/type
 * /diagnostic_aggregator/analyzers/nodes/type
 * /diagnostic_aggregator/analyzers/nodes/contains

NODES
  /
    appmaster (app_manager/appmaster)
    app_manager (app_manager/app_manager)
    turtlebot_node (turtlebot_node/turtlebot_node.py)
    turtlebot_laptop_battery (turtlebot_node/laptop_battery.py)
    robot_state_publisher (robot_state_publisher/state_publisher)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[appmaster-1]: started with pid [20615]
process[app_manager-2]: started with pid [20616]
process[turtlebot_node-3]: started with pid [20617]
process[turtlebot_laptop_battery-4]: started with pid [20618]
process[robot_state_publisher-5]: started with pid [20619]
process[diagnostic_aggregator-6]: started with pid [20620]
process[robot_pose_ekf-7]: started with pid [20621]
[ WARN] [1333035260.990533573]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
turtlebot_apps.installed
loading installation data for [turtlebot_apps.installed]
[INFO] [WallTime: 1333035261.490848] Starting app manager for turtlebot
[INFO] [WallTime: 1333035261.524692] Waiting for foreign master [http://localhost:11312] to come up...
[INFO] [WallTime: 1333035261.529719] Foreign master is available
[INFO] [WallTime: 1333035261.559937] Registering (/turtlebot/app_list,http://localhost:42480/) on master http://localhost:11312
[INFO] [WallTime: 1333035261.582940] Registering (/turtlebot/application/app_status,http://localhost:42480/) on master http://localhost:11312
turtlebot_apps.installed
[INFO] [WallTime: 1333035261.613521] Registering service (/turtlebot/list_apps,rosrpc://localhost:44179) on master http://localhost:11312
[INFO] [WallTime: 1333035261.617852] Registering service (/turtlebot/start_app,rosrpc://localhost:44179) on master http://localhost:11312
[INFO] [WallTime: 1333035261.635923] Registering service (/turtlebot/stop_app,rosrpc://localhost:44179) on master http://localhost:11312
[INFO] [WallTime: 1333035261.898413] serial port: /dev/ttyUSB0
[INFO] [WallTime: 1333035261.898585] update_rate: 30.0
[INFO] [WallTime: 1333035261.898699] drive mode: twist
[INFO] [WallTime: 1333035261.898814] has gyro: True
[INFO] [WallTime: 1333035261.958912] self.gyro_measurement_range 150.000000
[INFO] [WallTime: 1333035261.959174] self.gyro_scale_correction 1.350000
[INFO] [WallTime: 1333035268.441169] going into soft-reboot and exiting driver
[INFO] [WallTime: 1333035275.948409] exiting driver
[INFO] [WallTime: 1333035282.372672] going into soft-reboot and exiting driver
[INFO] [WallTime: 1333035289.884078] exiting driver
[INFO] [WallTime: 1333035296.320293] going into soft-reboot and exiting driver
[INFO] [WallTime: 1333035303.827759] exiting driver
[INFO] [WallTime: 1333035310.267098] going into soft-reboot and exiting driver
[INFO] [WallTime: 1333035315.026299] Setting turtlebot to full mode.
[INFO] [WallTime: 1333035317.770321] exiting driver
[INFO] [WallTime: 1333035324.199584] going into soft-reboot and exiting driver
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2 Answers

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answered 2012-03-30 00:43:59 -0500

unine_ros gravatar image

I think I got rid of it by not executing roscore!

What happens now is that dashboard opens with the first 2 buttons green and Breaks and batteries grey. when I click on breaks, it says: Cannot control breakers until we have received a power board state message

Also it gives the following log:

File "/opt/ros/electric/stacks/turtlebot_viz/turtlebot_dashboard/src/turtlebot_dashboard/power_state_control.py", line 111, in set_power_state self._char_cap = 0.8self._char_cap +0.2float(msg['Charge (mWh)'])
KeyError: 'Charge (mWh)' Traceback (most recent call last): File "/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode/wx/_core.py", line 14636, in <lambda> lambda event: event.callable(event.args, *event.kw) ) File "/opt/ros/electric/stacks/turtlebot_viz/turtlebot_dashboard/src/turtlebot_dashboard/turtlebot_frame.py", line 274, in new_dashboard_message self._power_state_ctrl.set_power_state(battery_status) File "/opt/ros/electric/stacks/turtlebot_viz/turtlebot_dashboard/src/turtlebot_dashboard/power_state_control.py", line 111, in set_power_state self._char_cap = 0.8self._char_cap +0.2float(msg['Charge (mWh)'])
KeyError: 'Charge (mWh)' Traceback (most recent call last):

Any ideas? please help! :)

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answered 2012-04-30 10:28:18 -0500

tfoote gravatar image

I think the most likely cause of this is that the iRobot Create was in a bad state. The driver will try to soft reboot if the robot is discharged and plugged in to be able to recharge the batter. However sometimes the Create doesn't work as expected.

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Asked: 2012-03-29 05:41:49 -0500

Seen: 427 times

Last updated: Apr 30 '12