Turtlebot trouble

edit

That is what im getting in result

[INFO] [launch]: All log files can be found below /home/ros/.ros/log/2021-12-20-16-26-25-540168-ros-Bravo-15-A4DDR-11375
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/foxy/share/turtlebot3_bringup/launch/robot.launch.py:76: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  Node(
urdf_file_name : turtlebot3_waffle.urdf
/opt/ros/foxy/share/turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py:47: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  Node(
/opt/ros/foxy/share/turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py:47: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
  Node(
/opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  Node(
/opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
  Node(
[INFO] [robot_state_publisher-1]: process started with pid [11377]
[INFO] [hlds_laser_publisher-2]: process started with pid [11379]
[INFO] [turtlebot3_ros-3]: process started with pid [11381]
[hlds_laser_publisher-2] [INFO] [1640006785.702774750] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main
[hlds_laser_publisher-2] [INFO] [1640006785.702942522] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan
[robot_state_publisher-1] [WARN] [1640006785.704453244] [robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-1] Parsing robot urdf xml string.
[turtlebot3_ros-3] [INFO] [1640006785.706668418] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [1640006785.707165122] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [ERROR] [1640006785.707264432] [DynamixelSDKWrapper]: Failed to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [ERROR] [1640006785.707273229] [DynamixelSDKWrapper]: Failed to initialize SDK handlers
[turtlebot3_ros-3] [ERROR] [1640006785.707292185] [turtlebot3_node]: Failed connection with Devices
[turtlebot3_ros-3] [PortHandlerLinux::SetupPort] Error opening serial port!
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link camera_link had 2 children
[robot_state_publisher-1] Link camera_depth_frame had 1 children
[robot_state_publisher-1] Link camera_depth_optical_frame had 0 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] [INFO] [1640006785.707754584] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1640006785.707796684] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1640006785.707803287] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1640006785.707809469] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-1] [INFO] [1640006785.707815641] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1640006785.707822424] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1640006785.707828676] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1640006785.707834938] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1640006785.707841651] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1640006785.707847893] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1640006785.707853914] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1640006785.707860187] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1640006785.707866739] [robot_state_publisher]: got segment wheel_right_link
[turtlebot3_ros-3] [INFO] [1640006785.707816933] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [1640006785.707856730] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [1640006785.707870747] [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 /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/node.c:441
[ERROR] [hlds_laser_publisher-2]: process has died [pid 11379 ...