ROSCORE doesn't start on ROS_MASTER
Hi everyone. I am new to ROS and its large community.
My question may be simple but after a thorough research on internet, I cannot find an answer to my problem. Basically, I have a host laptop (GS63) and ros master (Husky). The details are below:
Husky: 192.168.131.1
GS63: 192.168.131.99
ROS_MASTER_URI=http//:192.168.131.1:11311/
ROS_IP=192.168.131.99
The problem is whenever I run:
roscore
on my Husky, I get the following error:
... logging to /home/administrator/.ros/log/8c8dd558-f641-11ec-893a-675445159788/roslaunch-Cypector-1649.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://Cypector:41833/
ros_comm version 1.15.14
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.14
NODES
RLException: roscore cannot run as another roscore/master is already running.
Please kill other roscore/master processes before relaunching.
The ROS_MASTER_URI is http://Cypector:11311/
The traceback for the exception was written to the log file
I know that I have to kill other roscore processes. But there are no any other roscore processes running at the moment. Even so, I killed all of them by running:
killall -9 roscore
and
killall -9 rosmaster
After this, when I run:
roscore
I still get the same error:
RLException: roscore cannot run as another roscore/master is already running. Please kill other roscore/master processes before relaunching. The ROS_MASTER_URI is http://Cypector:11311/ The traceback for the exception was written to the log file
I have no idea what is going on and cannot find an solution to this loop. Please help.
Thanks
Asked by furkan on 2022-06-27 13:08:58 UTC
Answers
Check ROS environment variables on host and husky with
printenv | grep ROS
Did you set ROS_IP and ROS_MASTER on husky too?
Maybe you have some other process that spawns roscore when it dies.
EDIT:
I created these scripts for exactly this reason.
Asked by martinerk0 on 2022-06-28 05:30:53 UTC
Comments
Hi!
After running the below code on host:
My printenv | grep ROS
Here are my variables:
ROS_VERSION=1
ROS_PYTHON_VERSION=3
ROS_PACKAGE_PATH=/home/furkan/husky_noetic_ws/src:/opt/ros/noetic/share
ROSLISP_PACKAGE_DIRECTORIES=/home/furkan/husky_noetic_ws/devel/share/common-lisp
ROS_IP=192.168.131.99
ROS_ETC_DIR=/opt/ros/noetic/etc/ros
ROS_MASTER_URI=http://Cypector:11311
ROS_ROOT=/opt/ros/noetic/share/ros
ROS_DISTRO=noetic
After running the below code on husky:
My printenv | grep ROS
ROS_VERSION=1
ROS_PYTHON_VERSION=3
ROS_PACKAGE_PATH=/home/administrator/husky_noetic_ws/src:/opt/ros/noetic/share
ROSLISP_PACKAGE_DIRECTORIES=/home/administrator/husky_noetic_ws/devel/share/common-lisp
ROS_ROBOT_MODEL=husky
ROS_IP=192.168.131.1
ROS_ETC_DIR=/opt/ros/noetic/etc/ros
ROS_ROBOT_SERIAL_NO=A200-0744
ROS_MASTER_URI=http://localhost:11311
ROS_ROOT=/opt/ros/noetic/share/ros
ROS_DISTRO=noetic
I don't think there is any discrepancy in the variables...
Asked by furkan on 2022-06-28 07:59:27 UTC
Comments
Yeah, that's not correct, you need to change it to:
on host:
ROS_MASTER_URI=http://192.168.131.99:11311
and on
husky:
ROS_MASTER_URI=http://192.168.131.99:11311
I can share script for setting these variables if you want, If this solved your issue, accept my answer thanks :)
Asked by martinerk0 on 2022-06-28 10:32:10 UTC
I've changed the
ROS_MASTER_URI=http://192.168.131.99:11311
in both host and husky. But I still get the same error when I run roscore on husky.
RLException: roscore cannot run as another roscore/master is already running.
Please kill other roscore/master processes before relaunching.
The ROS_MASTER_URI is http://Cypector:11311/
The traceback for the exception was written to the log file
By the way, I changed them by just running in both husky and host
export ROS_MASTER_URI=http://192.168.131.99:11311
Then I also confirmed that they've changed by running
printenv | grep ROS
Asked by furkan on 2022-06-28 10:53:57 UTC
Is really roscore not running on both machines? What is output of on both machines?
ps -aux | grep roscore
Try opening new terminals or source ~/.bashrc.
If you ssh into remote you need to source bashrc to update variables
Asked by martinerk0 on 2022-06-28 10:59:25 UTC
Output on Husky:
adminis+ 1950 0.0 0.0 9208 724 pts/0 S+ 09:06 0:00 grep --color=auto roscore
Output on laptop:
furkan 84839 0.0 0.0 9040 720 pts/0 S+ 09:06 0:00 grep --color=auto roscore
Additionally, I talked to someone from Clearpath Robotics that the in this particular Husky, Roscore does not need to be started since it automatically starts everytime the robot is on.
Asked by furkan on 2022-06-29 08:08:40 UTC
Comments