ROSCORE doesn't start on ROS_MASTER

asked 2022-06-27 13:10:50 -0600

furkan

1 ●1 ●2 ●3

updated 2022-06-29 05:14:09 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

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

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answered 2022-06-28 05:30:53 -0600

martinerk0

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updated 2022-06-28 10:48:45 -0600

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.

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answered 2022-06-28 07:59:27 -0600

furkan

1 ●1 ●2 ●3

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...

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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 :)

martinerk0 ( 2022-06-28 10:32:10 -0600 )edit

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

furkan ( 2022-06-28 10:53:57 -0600 )edit

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

martinerk0 ( 2022-06-28 10:59:25 -0600 )edit

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.

furkan ( 2022-06-29 08:08:40 -0600 )edit

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