ros2_control_node dies after launch
Using laptop with Ubuntu Jammy and Ros2 Humble, with the Andino Github rover robot package. I changed the lidar and camera to false in launch file, since they are not installed yet, and the Arduino Uno is programmed and connected to motor driver. This error shows a lot of information but its meaning is beyond me! I expected to be able to control motors with joystick after this launch file loaded its routines. A serial command to Arduino through IDE does cause motor to spin.
russ@russ-HP-Pavilion-Laptop-15-eh0xxx:~$ ros2 launch andino_bringup andino_robot.launch.py
[INFO] [launch]: All log files can be found below /home/russ/.ros/log/2023-08-05-21-08-03-726931-russ-HP-Pavilion-Laptop-15-eh0xxx-14973
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [14974]
[INFO] [twist_mux-2]: process started with pid [14976]
[twist_mux-2] [INFO] [1691287684.071292502] [twist_mux]: Topic handler 'topics.joy' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 30.
[twist_mux-2] [INFO] [1691287684.072275936] [twist_mux]: Topic handler 'topics.keyboard' subscribed to topic 'cmd_vel_keyboard': timeout = 0.500000s , priority = 20.
[twist_mux-2] [INFO] [1691287684.072586940] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 10.
[robot_state_publisher-1] [WARN] [1691287684.074231910] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-1] [INFO] [1691287684.074314114] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1691287684.074364120] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1691287684.074374107] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1691287684.074383187] [robot_state_publisher]: got segment caster_base_link
[robot_state_publisher-1] [INFO] [1691287684.074392685] [robot_state_publisher]: got segment caster_rotation_link
[robot_state_publisher-1] [INFO] [1691287684.074401834] [robot_state_publisher]: got segment caster_wheel_link
[robot_state_publisher-1] [INFO] [1691287684.074410774] [robot_state_publisher]: got segment left_motor
[robot_state_publisher-1] [INFO] [1691287684.074419853] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1691287684.074428583] [robot_state_publisher]: got segment right_motor
[robot_state_publisher-1] [INFO] [1691287684.074437593] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-1] [INFO] [1691287684.074446602] [robot_state_publisher]: got segment rplidar_laser_link
[robot_state_publisher-1] [INFO] [1691287684.074455193] [robot_state_publisher]: got segment second_base_link
[INFO] [ros2_control_node-3]: process started with pid [15028]
[INFO] [spawner-4]: process started with pid [15030]
[ros2_control_node-3] [INFO] [1691287690.774201633] [resource_manager]: Loading hardware 'RealRobot'
[ros2_control_node-3] [INFO] [1691287690.775026388] [resource_manager]: Initialize hardware 'RealRobot'
[ros2_control_node-3] [INFO] [1691287690.775172217] [DiffDriveAndino]: On init...
[ros2_control_node-3] [INFO] [1691287690.775186883] [DiffDriveAndino]: Finished On init.
[ros2_control_node-3] [INFO] [1691287690.775194636] [resource_manager]: Successful initialization of hardware 'RealRobot'
[ros2_control_node-3] [INFO] [1691287690.775291994] [resource_manager]: 'configure' hardware 'RealRobot'
[ros2_control_node-3] [INFO] [1691287690.775298210] [DiffDriveAndino]: On configure...
[ros2_control_node-3] terminate called after throwing an instance of 'LibSerial::NotOpen'
[ros2_control_node-3] what(): Serial port not open.
[ros2_control_node-3] Bad file descriptor
[ros2_control_node-3] Stack trace (most recent call last):
[ros2_control_node-3] #22 Object "", at 0xffffffffffffffff, in
[ros2_control_node-3] #21 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55ddfc63bd84, in
[ros2_control_node-3] #20 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7fe510029e3f]
[ros2_control_node-3] #19 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7fe510029d8f]
[ros2_control_node-3] #18 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55ddfc63b89e, in
[ros2_control_node-3] #17 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fe5108b9da1, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char ...
Looks to me this is the important part of the error messages:
I don't have that hw, nor robot, nor do I use the sw, but I'd suggest checking the serial connection is not already opened by something else, the port configured is correct, the "other side" (ie: on the arduino) is 'running' (whatever that may mean in this context), etc.
In addition to gvdhoom's comments, the port may not be open and just needs the following inelegant solution at least as a test.
sudo chmod 666 /dev/ttys0of course with the actual name of the serial port you're trying to use.