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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

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


 * /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

    appmaster (app_manager/appmaster)
    app_manager (app_manager/app_manager)
    turtlebot_node (turtlebot_node/
    turtlebot_laptop_battery (turtlebot_node/
    robot_state_publisher (robot_state_publisher/state_publisher)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)


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]
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, on master http://localhost:11312
[INFO] [WallTime: 1352283369.781682] Registering (/turtlebot/application/app_status, on master http://localhost:11312
loading installation data for [turtlebot_apps.installed]
[INFO] [WallTime: 1352283369.796770] Registering service (/turtlebot/list_apps,rosrpc:// 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 ...
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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 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

in order to see clearer what it going wrong. Once you figured that out, continue with the big launch file. Why 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 image nemesis  ( 2013-12-10 12:00:47 -0500 )edit

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 image JBuesch  ( 2013-12-10 22:48:27 -0500 )edit

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.


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

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

Seen: 1,934 times

Last updated: Nov 08 '12