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Kobuki "malformed subpayload"

asked 2013-01-14 06:04:54 -0600

nsprague gravatar image

updated 2013-01-15 10:04:26 -0600

I'm working with Turtlebot2 (with the Kobuki base) and running ROS Groovy. I'm intermittently seeing error messages like the ones below. Once these error messages start to appear, the robot becomes unresponsive. Relaunching the Turtlebot by running:

roslaunch turtlebot_bringup minimal.launch

doesn't help. Nor does power-cycling the robot. The only thing that seems to help is rebooting the notebook and re-launching. This works for a few minutes until the error messages reappear. I haven't been able to reliably reproduce the conditions that cause the error. I'm running version 1.1.3 of the Kobuki firmware. Any advice would be much appreciated.

[ERROR] [1358185944.885286960]: Kobuki : malformed sub-payload detected. [116][255] [74 FF 77 00 D6 FF 7B FF 10 10 01 00 D9 0F DA 0F D3 0F DB 0F EF 0F 00 00 00 00 62 AA 55 4D 01 0F 60 D8 00 00 00 69 5D FA 5B 00 00 00 00 9E 00 03 03 00 00 00 04 07 A9 FB F9 FF 00 00 00 05 06 2B 06 50 07 99 06 06 02 00 00 0D 0E 13 06 7D 00 DD FF 83 FF 75 00 E0 FF 8E FF 10 10 01 00 D9 0F DD 0F D6 0F D7 0F F1 0F ]
[ERROR] [1358185986.942876038]: Kobuki : Timed out while waiting for serial data stream [/mobile_base].
[ERROR] [1358185987.905898133]: Kobuki : malformed subpayload detected.
[ERROR] [1358185997.916354409]: Kobuki : malformed sub-payload detected. [177][255] [B1 FF 6A 00 DF FF A6 FF 10 10 01 00 D7 0F DE 0F D4 0F D8 0F EE 0F 00 00 00 00 ]
[ERROR] [1358186002.942891211]: Kobuki : Timed out while waiting for serial data stream [/mobile_base].
[ERROR] [1358186018.942877693]: Kobuki : Timed out while waiting for serial data stream [/mobile_base].
[ERROR] [1358186025.965638646]: Kobuki : malformed sub-payload detected. [15][219] [0F DB 0F D3 0F D8 0F EF 0F 00 00 00 00 B9 AA 55 4D 01 0F 68 15 00 00 00 69 5D FA 5B 00 00 00 00 9E 00 03 03 00 00 00 04 07 A9 FB F9 FF 00 00 00 05 06 2C 06 53 07 99 06 06 02 00 00 0D 0E DB 06 51 00 DC FF 8C FF 55 00 DD FF 92 FF 10 10 01 00 D7 0F DA 0F DC 0F D5 0F F1 0F 00 00 ]
[ERROR] [1358186047.963542755]: Kobuki : malformed sub-payload detected. [152][255] [98 FF 10 10 01 00 DB 0F D7 0F D4 0F DE 0F F0 0F 00 00 00 00 ]

EDIT: After the error messages above, the ftdi device associated with the Kobuki no longer shows up after an lsusb.

Here is some additional output from dmesg in case it means anything to anyone:

[ 1798.755034] ftdi_sio ttyUSB0: ftdi_set_termios FAILED to set databits/stopbits/parity
[ 1799.766442] ftdi_sio ttyUSB0: ftdi_set_termios urb failed to set baudrate
[ 1800.777800] usb 2-1: clear tt 1 (00c0) error -110
[ 1809.784380] ftdi_sio ttyUSB0: urb failed ...
(more)
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Comments

Hi nsprague! During the development of Kobuki, we once had an USB issue, which caused the netbook's USB controller to hang up. It also forced us to reboot the netbook to get it working again. Unfortunately, we were not able to reproduce this reliably.

bit-pirate gravatar imagebit-pirate ( 2013-01-23 11:28:22 -0600 )edit

The few times we did, we noticed that Kobuki's battery level was low. Could you test your netbook with Kobuki on fully loaded batteries again? My colleague is using an Acer Aspire One, but its model number is D255. He hasn't reported any issues with it, but I'll ask him again.

bit-pirate gravatar imagebit-pirate ( 2013-01-23 11:30:39 -0600 )edit

This definitely wasn't an issue with the battery. It seems to be specific to the netbook model. It turns out that this Acer has all three external USB ports on the same USB bus. I've been told that there are issues with putting the Kinect and the Kobuki on the same bus.

nsprague gravatar imagensprague ( 2013-02-11 02:53:03 -0600 )edit

Ok, thanks for the feedback nsprague.

Daniel Stonier gravatar imageDaniel Stonier ( 2013-02-21 12:19:05 -0600 )edit

I'm having the same exact issues with a Turtlebot2-kobuki and the netbook Acer Aspire One. Any workaround found?

fherrero gravatar imagefherrero ( 2013-03-13 04:00:16 -0600 )edit

Do you have the same situation fherroro? i.e. kinect and kobuki usb's on the same bus.

Daniel Stonier gravatar imageDaniel Stonier ( 2013-03-14 05:34:32 -0600 )edit

I never found a workaround. I purchased new netbooks: Asus X201e's. These don't have the kobuki issue described above, but they have their own issues. Neither wired nor wireless Ethernet are well-supported under Ubuntu.

nsprague gravatar imagensprague ( 2013-03-20 05:37:51 -0600 )edit

I just ordered brand new turtlebots and am using them on an Intel NUC model NUC5i7RYH with the Ubuntu provided on the USB stick. I get the exact error messages. Has any one figured out any workarounds in the last 4 years?

vik748 gravatar imagevik748 ( 2017-05-25 14:19:39 -0600 )edit

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answered 2013-03-20 13:44:52 -0600

bit-pirate gravatar image

@nsprague We found out that the same ASUS netbook model is distributed with varying hardware (different wired and wireless network cards). Hence, driver support is difficult. Two turtlebot distributors are working hard on finding a solution. Join the turtlebot mailing list to stay up to date!

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answered 2014-04-03 09:48:58 -0600

updated 2014-04-03 09:49:43 -0600

I had the same problem with my Acer Aspire V5 netbook. It looked like the USB Controller was causing the problem, since all three USBs are running on one controller. After updating my Linux Kernel to the newest version (3.8 something), I had neither the Kobuki : Timed out while waiting for serial data stream nor the Kobuki : malformed sub-payload detected Error anymore!

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answered 2019-04-23 23:08:40 -0600

I found the same problem with PC NUC, although updating to the newest version.

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Asked: 2013-01-14 06:04:54 -0600

Seen: 6,903 times

Last updated: Apr 23 '19