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turtlebot SCI Problem

asked 2012-11-06 22:19:41 -0500

kunalrex2010 gravatar image

updated 2014-01-28 17:14:11 -0500

ngrennan gravatar image

Hi, I am getting this kind of data when i do rostopic list on my workstation rex@ubuntu:~$ export ROS_MASTER_URI=http://turtlebot-laptop:11311

rex@ubuntu:~$ rostopic list
/cmd_vel
/diagnostics
/imu/data
/imu/raw
/joint_states
/odom
/rosout
/rosout_agg
/turtlebot_node/parameter_descriptions
/turtlebot_node/parameter_updates
/turtlebot_node/sensor_state

And when I try to use the Dash board it says :

Failed to put the turtlebot in full mode: service call failed with error: service [/turtlebot_node/set_operation_mode] responded with an error: error processing request: Robot not connected, SCI not available

And the Minimal launch file output is :

rex@ubuntu:~roslaunch turtlebot_bringup minimal.launch
... logging to /home/rex/.ros/log/ad527dac-28bf-11e2-a05f-904ce58884e4/roslaunch-ubuntu-3227.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.101:39972/

SUMMARY
========

PARAMETERS
 * /use_sim_time
 * /robot_pose_ekf/sensor_timeout
 * /diagnostic_aggregator/analyzers/sensors/path
 * /robot_pose_ekf/imu_used
 * /robot_pose_ekf/odom_used
 * /robot/name
 * /diagnostic_aggregator/analyzers/nodes/timeout
 * /diagnostic_aggregator/analyzers/mode/timeout
 * /diagnostic_aggregator/analyzers/sensors/timeout
 * /diagnostic_aggregator/analyzers/power/type
 * /turtlebot_node/update_rate
 * /diagnostic_aggregator/analyzers/power/timeout
 * /diagnostic_aggregator/analyzers/mode/type
 * /diagnostic_aggregator/analyzers/digital_io/path
 * /diagnostic_aggregator/analyzers/digital_io/timeout
 * /diagnostic_aggregator/analyzers/nodes/path
 * /rosdistro
 * /robot_description
 * /diagnostic_aggregator/base_path
 * /robot_pose_ekf/freq
 * /robot_pose_ekf/publish_tf
 * /app_manager/interface_master
 * /robot_pose_ekf/vo_used
 * /diagnostic_aggregator/analyzers/sensors/type
 * /diagnostic_aggregator/analyzers/digital_io/startswith
 * /diagnostic_aggregator/analyzers/power/path
 * /robot_pose_ekf/output_frame
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/digital_io/type
 * /diagnostic_aggregator/analyzers/mode/startswith
 * /rosversion
 * /diagnostic_aggregator/pub_rate
 * /robot_state_publisher/publish_frequency
 * /diagnostic_aggregator/analyzers/sensors/startswith
 * /diagnostic_aggregator/analyzers/power/startswith
 * /turtlebot_node/bonus
 * /robot/type
 * /diagnostic_aggregator/analyzers/nodes/type
 * /diagnostic_aggregator/analyzers/nodes/contains

NODES
  /
    appmaster (app_manager/appmaster)
    app_manager (app_manager/app_manager)
    turtlebot_node (turtlebot_node/turtlebot_node.py)
    turtlebot_laptop_battery (turtlebot_node/laptop_battery.py)
    robot_state_publisher (robot_state_publisher/state_publisher)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)

ROS_MASTER_URI=http://turtlebot-laptop:11311

core service [/rosout] found
process[appmaster-1]: started with pid [3239]
process[app_manager-2]: started with pid [3240]
process[turtlebot_node-3]: started with pid [3241]
process[turtlebot_laptop_battery-4]: started with pid [3242]
process[robot_state_publisher-5]: started with pid [3246]
process[diagnostic_aggregator-6]: started with pid [3256]
process[robot_pose_ekf-7]: started with pid [3257]
turtlebot_apps.installed
loading installation data for [turtlebot_apps.installed]
[ WARN] [1352283367.262891124]: The root link base_footprint 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.
ERROR: Cannot locate app file for turtlebot_teleop/android_teleop: package is not installed.
[INFO] [WallTime: 1352283369.609555] Starting app manager for turtlebot
[INFO] [WallTime: 1352283369.668527] Waiting for foreign master [http://localhost:11312] to come up...
[INFO] [WallTime: 1352283369.671613] Foreign master is available
[INFO] [WallTime: 1352283369.762669] Registering (/turtlebot/app_list,http://192.168.1.101:58981/) on master http://localhost:11312
[INFO] [WallTime: 1352283369.781682] Registering (/turtlebot/application/app_status,http://192.168.1.101:58981/) on master http://localhost:11312
turtlebot_apps.installed
loading installation data for [turtlebot_apps.installed]
[INFO] [WallTime: 1352283369.796770] Registering service (/turtlebot/list_apps,rosrpc://192.168.1.101:33609) on master http://localhost:11312
ERROR: Cannot locate app file for turtlebot_teleop/android_teleop: package is not installed.
[INFO] [WallTime: 1352283369.818413] Registering service (/turtlebot/start_app ...
(more)
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2 Answers

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answered 2012-11-07 11:01:31 -0500

JBuesch gravatar image

updated 2012-11-07 11:05:00 -0500

The problem comes not from the dashboard. It starts earlier:

[ERROR] [WallTime: 1352283377.066618] Failed to open port /dev/ttyUSB0. Please make sure the Create cable is plugged into the computer.

This means that turtlebot_node.py was never even able to connect to your iRobot device in the first place. I would suggest you start with a simple

rosrun turtlebot_node turtlebot_node.py

in order to see clearer what it going wrong. Once you figured that out, continue with the big launch file. Why turtlebot_node.py actually gets no connection to your iRobot device can have different reasons.

  • Does your user have permission to open a serial port?
  • On my setup it happens, that I have to replug the serial converter once after rebooting my laptop for god knows what reasons. After that it works like a charm.
  • Are there probably more serial-usb devices on your system and /dev/ttyUSB0 is already occupied?

A good starting point might be to manually connect to serial port and see if that works.

Good luck. :)

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Hi. I have a query. I installed the turtlebot package as per the wiki but I am missing the turtlebot_node (and turtlebot_driver) too. Any idea what to do?

nemesis gravatar imagenemesis ( 2013-12-10 12:00:47 -0500 )edit
1

Please open a new question for that. This is a Q&A platform and not a forum. Nobody will find your question in this post. And from what you wrote I have no idea at all. When you put a new question, please provide as much information as you can do in order to relieve people from guessing. :)

JBuesch gravatar imageJBuesch ( 2013-12-10 22:48:27 -0500 )edit
0

answered 2012-11-08 00:05:07 -0500

kunalrex2010 gravatar image

updated 2012-11-08 00:06:56 -0500

J Buesch Very much thanks for the Answer and I will see to it that, if there's any connection problem. I was looking for the UDEF port as I thought there might be some problems with the port. As you stated there are some problems with the port that we face in Ubuntu, because there a stack in Ubuntu which selects the function of the port.Sometimes that stack gets stuck and we have to re-plug the serial cable or reboot the system. Or we have to manually set the port function.

Thanks You Very much Again.

Kunal

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Please do not use answers for discussion or comments. This is not a forum. Instead please either edit your original post or use the comment funtionality.

Lorenz gravatar imageLorenz ( 2012-11-08 00:18:15 -0500 )edit

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Asked: 2012-11-06 22:19:41 -0500

Seen: 1,585 times

Last updated: Nov 08 '12