Clearpath Jackal - launch error: unable to open port

edit

Hi,

I am running Ubuntu 16.04 with ROS kinetic on a ClearPath jackal. I am running into a problem where I run a launch file called base.launch and end up getting an error shown below. I found a few lines in one of the nodes that are run by the launch file (shown below), but I am not sure how to deal with this problem. If anyone can offer any help thank you in advance.

Launch File

<launch>
  <include file="$(find jackal_description)/launch/description.launch" />

  <node pkg="jackal_base" type="jackal_node" name="jackal_node">
    <rosparam>
      # TODO: Specify these in code rather than here.
      require:
        publishers:
          - status
          - feedback
          - imu/data_raw
          - navsat/nmea_sentence
        subscribers:
          - cmd_drive
          - wifi_connected
    </rosparam>
    <param name="wireless_interface" value="$(optenv JACKAL_WIRELESS_INTERFACE wlp2s0)" />
  </node>

  <!-- TODO: Eliminate this by compiling the necessary message definitions into jackal_base. -->
  <node pkg="rosserial_python" type="message_info_service.py" name="rosserial_message_info" />

  <!-- Translate Sentence messages from the MCU to NavSatFix messages -->
  <node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver" ns="navsat" />

  <!-- Filter raw gyro data into a usable IMU message -->
  <node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter">
    <!-- This environment variable is populated by an env hook in the jackal_base
         package. It looks for a user-generated mag config (eg, from running
         the calibrate_compass script), and falls back on a default one. -->
    <rosparam file="$(env JACKAL_MAG_CONFIG)" />
    <rosparam>
      gain: 0.1
      zeta: 0.001
      publish_tf: false
      use_magnetic_field_msg: false
    </rosparam>
  </node>

  <!-- Differential controller and basic localization -->
  <include file="$(find jackal_control)/launch/control.launch" />

  <!-- Teleoperation via joystick and rviz interactive markers -->
  <include file="$(find jackal_control)/launch/teleop.launch" />

  <!-- Diagnostic Aggregator for robot monitor usage -->
  <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator">
    <rosparam command="load" file="$(find jackal_base)/config/diagnostic_analyzers.yaml" />
  </node>
</launch>

Related lines from node

  // Create the serial rosserial server in a background ASIO event loop.
  std::string port;
  ros::param::param<std::string>("~port", port, "/dev/jackal");
  boost::asio::io_service io_service;
  new rosserial_server::SerialSession(io_service, port, 115200);
  boost::thread(boost::bind(&boost::asio::io_service::run, &io_service));

Error

[ERROR] [1561035200.806246227]: Unable to open port /dev/jackal: system:2