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Failed connection with Devices

asked 2019-09-05 12:33:01 -0500

Felipe gravatar image

updated 2019-09-05 12:38:46 -0500

sloretz gravatar image

Anything thoughts or ideas would be appreciated! I am currently running ros2 dashing and using a turtlebot3 waffle pi. After running the following command:

ros2 launch turtlebot3_bringup

I receive this output:

[INFO] [launch]: All log files can be found below /home/flapjack/.ros/log/2019-09-05-13-29-24-571236-etc-turtlebot-flapjack-20947
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle_pi.urdf
[INFO] [robot_state_publisher-1]: process started with pid [20958]
[INFO] [hlds_laser_publisher-2]: process started with pid [20959]
[INFO] [turtlebot3_ros-3]: process started with pid [20960]
[robot_state_publisher-1] Initialize urdf model from file: /home/flapjack/turtlebot_ws2/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link camera_link had 1 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] got segment base_footprint
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment base_scan
[robot_state_publisher-1] got segment camera_link
[robot_state_publisher-1] got segment camera_rgb_frame
[robot_state_publisher-1] got segment camera_rgb_optical_frame
[robot_state_publisher-1] got segment caster_back_left_link
[robot_state_publisher-1] got segment caster_back_right_link
[robot_state_publisher-1] got segment imu_link
[robot_state_publisher-1] got segment wheel_left_link
[robot_state_publisher-1] got segment wheel_right_link
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
[robot_state_publisher-1] Adding fixed segment from base_link to camera_link
[robot_state_publisher-1] Adding fixed segment from camera_link to camera_rgb_frame
[robot_state_publisher-1] Adding fixed segment from camera_rgb_frame to camera_rgb_optical_frame
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_left_link
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_right_link
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!

[turtlebot3_ros-3] [ERROR] [turtlebot3_node]: **Failed connection with Devices**
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] terminate called after throwing an instance of **'rclcpp::exceptions::RCLError'**
[turtlebot3_ros-3]   what():  could not create publisher: rcl node's context is invalid, at /home/jenkins-agent/workspace/packaging_linux-armhf/ws/src/ros2/rcl/rcl/src/rcl/node.c:476
[ERROR] [turtlebot3_ros-3]: process has died [pid 20960, exit code -6, cmd '/home/flapjack/turtlebot_ws2/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0 __params:=/home/flapjack/turtlebot_ws2/install/turtlebot3_bringup/share/turtlebot3_bringup/param/waffle_pi.yaml'].
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Did you check usb port connected with opencr?

Darby Lim gravatar image Darby Lim  ( 2019-09-05 19:27:12 -0500 )edit

yes. it is connected and I am unfortunately still receiving this error

Felipe gravatar image Felipe  ( 2019-09-06 08:51:14 -0500 )edit

I've got exactly the same problem. Did you figure out what the issue was?

EDIT: got it, my problem was not having setup the OpenCR

lmuee gravatar image lmuee  ( 2020-03-05 06:41:52 -0500 )edit

1 Answer

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answered 2020-01-07 01:11:46 -0500

erinliu gravatar image

You see "[turtlebot3_ros-3] [ERROR] [turtlebot3_node]: Failed connection with Devices" in the output? That info is from TurtleBot3::check_device_status() in the program. In this function if you didn't connect to device(means dxl_sdk_wrapper_->is_connected_to_device()==false),it will show this message and do rclcpp::shutdown(). You can check this function, there may be the reason.

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Asked: 2019-09-05 12:33:01 -0500

Seen: 1,266 times

Last updated: Sep 05 '19