Cannot launch velodyne VLP16 data acquisition via WSL/Ubuntu 18.04

asked 2019-07-09 10:59:12 -0500

Vega21 gravatar image

updated 2019-07-10 07:09:57 -0500

Hello everybody,

I have been following the tutorial in order to view the data of my velodyne VLP16 via rviz.

I keep getting an error :

[FATAL] [1562686773.140959900]: Failed to load nodelet '/velodyne_nodelet_manager_cloud` of type `velodyne_pointcloud/CloudNodelet` to manager `velodyne_nodelet_manager'

The weird thing is that everything is working well with another PC (data acquisition, display) and I cannot find where I did wrong. The only difference I see is that I am using Windows subsystem for linux but the installation seems OK. I can also ping the Velodyne.

Please find below the log I get.

Does anybody have a clue? I am available if you need any complementary information.

The configuration that is not working:

  • OS: (Windows) WSL - Ubuntu 18.04
  • ROS distro: melodic

The configuration that is working:

  • OS: Ubuntu 18.04
  • ROS distro: melodic

log:

... logging to /home/vega/.ros/log/bd89392e-a25f-11e9-a9d6-3c528248c33d/roslaunch-pc-rech-info-02-3796.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://pc-rech-info-02:53850/

SUMMARY
========

PARAMETERS

 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /velodyne_nodelet_manager_cloud/calibration: /home/kfavre/catk...
 * /velodyne_nodelet_manager_cloud/max_range: 130.0
 * /velodyne_nodelet_manager_cloud/min_range: 0.4
 * /velodyne_nodelet_manager_cloud/organize_cloud: False
 * /velodyne_nodelet_manager_driver/cut_angle: -0.01
 * /velodyne_nodelet_manager_driver/device_ip:
 * /velodyne_nodelet_manager_driver/frame_id: velodyne
 * /velodyne_nodelet_manager_driver/gps_time: False
 * /velodyne_nodelet_manager_driver/model: VLP16
 * /velodyne_nodelet_manager_driver/pcap:
 * /velodyne_nodelet_manager_driver/port: 2368
 * /velodyne_nodelet_manager_driver/read_fast: False
 * /velodyne_nodelet_manager_driver/read_once: False
 * /velodyne_nodelet_manager_driver/repeat_delay: 0.0
 * /velodyne_nodelet_manager_driver/rpm: 600.0
 * /velodyne_nodelet_manager_laserscan/resolution: 0.007
 * /velodyne_nodelet_manager_laserscan/ring: -1

NODES
  /
    velodyne_nodelet_manager (nodelet/nodelet)
    velodyne_nodelet_manager_cloud (nodelet/nodelet)
    velodyne_nodelet_manager_driver (nodelet/nodelet)
    velodyne_nodelet_manager_laserscan (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [3806]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to bd89392e-a25f-11e9-a9d6-3c528248c33d
process[rosout-1]: started with pid [3817]
started core service [/rosout]
process[velodyne_nodelet_manager-2]: started with pid [3820]
process[velodyne_nodelet_manager_driver-3]: started with pid [3825]
process[velodyne_nodelet_manager_cloud-4]: started with pid [3826]
process[velodyne_nodelet_manager_laserscan-5]: started with pid [3832]
[ INFO] [1562686773.118783700]: Initializing nodelet with 4 worker threads.
[FATAL] [1562686773.140959900]: Failed to load nodelet '/velodyne_nodelet_manager_cloud` of type 
`velodyne_pointcloud/CloudNodelet` to manager `velodyne_nodelet_manager'
[FATAL] [1562686773.149124900]: Failed to load nodelet '/velodyne_nodelet_manager_driver` of type `velodyne_driver/DriverNodelet` to manager `velodyne_nodelet_manager'
[velodyne_nodelet_manager_driver-3] process has died [pid 3825, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load velodyne_driver/DriverNodelet velodyne_nodelet_manager __name:=velodyne_nodelet_manager_driver __log:=/home/vega/.ros/log/bd89392e-a25f-11e9-a9d6-3c528248c33d/velodyne_nodelet_manager_driver-3.log].
log file: /home/vega/.ros/log/bd89392e-a25f-11e9-a9d6-3c528248c33d/velodyne_nodelet_manager_driver-3*.log
[velodyne_nodelet_manager_cloud-4] process has died [pid 3826, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load velodyne_pointcloud/CloudNodelet velodyne_nodelet_manager __name:=velodyne_nodelet_manager_cloud __log:=/home/kfavre/.ros/log/bd89392e-a25f-11e9-a9d6-3c528248c33d/velodyne_nodelet_manager_cloud-4.log].
log file: /home/vega/.ros/log/bd89392e-a25f-11e9-a9d6-3c528248c33d/velodyne_nodelet_manager_cloud-4*.log
[velodyne_nodelet_manager_laserscan-5] process has finished cleanly
log file: /home/vega/.ros/log/bd89392e-a25f-11e9-a9d6-3c528248c33d/velodyne_nodelet_manager_laserscan-5*.log
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Comments

The only difference I see is that I am using Windows subsystem for linux

which is actually a likely cause (but not necessarily the cause). WSL is quite OK, but still not identical to a native Linux installation.

Can you load any nodelet?

gvdhoorn gravatar imagegvdhoorn ( 2019-07-09 12:14:19 -0500 )edit

I have tried the nodelet tutorial and it fails at step 3 => Launching the nodelet, with the same kind of error :

[FATAL] [1562751013.182314200]: Failed to load nodelet '/nodelet1` of type `nodelet_tutorial_math/Plus` to manager `nodelet_manager'

So it looks like I cannot load any nodelet

Vega21 gravatar imageVega21 ( 2019-07-10 04:32:09 -0500 )edit

Then my guess right now would be that there is something that prevents nodelets from functioning properly under WSL.

I realise that is not something that helps you forward, but WSL just isn't on-par with an actual Linux installation.

If you feel like getting this fixed, you could consider posting an issue on the issue tracker (after making sure there isn't one already of course).

gvdhoorn gravatar imagegvdhoorn ( 2019-07-10 04:44:50 -0500 )edit

I will have a look at the issues and post one if necessary, thank you for your time.

Vega21 gravatar imageVega21 ( 2019-07-10 07:11:20 -0500 )edit