roslaunch pi_tracker tracker

pi
roslaunch

asked 2011-03-17 20:36:00 -0600

Nutan
92 ●12 ●14 ●20

HI, all. I encounter a problem when roslaunch pi_tracker tracker.launch as follows. I set use_real_robot: False, but why it still requires Serial port?

... logging to /home/nutan/.ros/log/5ffee514-5133-11e0-b054-00e081b5d370/roslaunch-nutan-desktop-6166.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://nutan-desktop:45340/

SUMMARY

PARAMETERS * /tracker_command/skel_to_joint_map/left_foot * /tracker_base_controller/skel_to_joint_map/left_knee * /tracker_joint_controller/max_rotation_speed * /tracker_command/skel_to_joint_map/right_knee * /tracker_joint_controller/skel_to_joint_map/right_shoulder * /tracker_joint_controller/reverse_rotation * /tracker_base_controller/skel_to_joint_map/left_foot * /tracker_base_controller/scale_drive_speed * /tracker_base_controller/holonomic * /tracker_joint_controller/skel_to_joint_map/neck * /tracker_joint_controller/holonomic * /tracker_command/default_joint_speed * /tracker_joint_controller/joint_controller_rate * /tracker_base_controller/scale_rotation_speed * /tracker_base_controller/skel_to_joint_map/left_shoulder * /tracker_joint_controller/fixed_frame * /tracker_joint_controller/skel_to_joint_map/left_shoulder * /tracker_joint_controller/skel_to_joint_map/torso * /tracker_base_controller/skel_to_joint_map/right_hip * /tracker_base_controller/skel_to_joint_map/right_hand * /tracker_command/skel_to_joint_map/torso * /tracker_joint_controller/command_rate * /tracker_command/skel_to_joint_map/left_elbow * /robotis_joint_controller/baud * /tracker_base_controller/skel_to_joint_map/neck * /tracker_command/skel_to_joint_map/right_foot * /tracker_command/max_drive_speed * /tracker_base_controller/skel_to_joint_map/torso * /tracker_command/scale_drive_speed * /tracker_base_controller/max_drive_speed * /tracker_command/base_controller_rate * /tracker_base_controller/skel_to_joint_map/right_shoulder * /tracker_base_controller/skel_to_joint_map/left_hip * /tracker_command/skel_to_joint_map/right_hand * /robotis_joint_controller/rate * /tracker_base_controller/skel_to_joint_map/right_foot * /tracker_base_controller/skel_to_joint_map/right_elbow * /tracker_joint_controller/skel_to_joint_map/left_knee * /tracker_base_controller/use_real_robot * /tracker_command/reverse_rotation * /tracker_joint_controller/scale_rotation_speed * /tracker_base_controller/base_controller_rate * /tracker_base_controller/tracking_rate * /tracker_base_controller/skel_to_joint_map/left_elbow * /tracker_joint_controller/skel_to_joint_map/head * /tracker_joint_controller/max_drive_speed * /tracker_command/skel_to_joint_map/head * /tracker_command/fixed_frame * /tracker_base_controller/skel_to_joint_map/left_hand * /tracker_joint_controller/skel_to_joint_map/right_hip * /tracker_command/tracking_rate * /tracker_command/skel_to_joint_map/right_shoulder * /tracker_base_controller/reverse_rotation * /tracker_command/command_rate * /tracker_base_controller/default_joint_speed * /tracker_command/skel_to_joint_map/left_shoulder * /tracker_base_controller/base_control_side * /tracker_joint_controller/skel_to_joint_map/right_elbow * /tracker_joint_controller/default_joint_speed * /tracker_joint_controller/skel_to_joint_map/right_knee * /tracker_command/use_real_robot * /tracker_joint_controller/skel_to_joint_map/left_elbow * /tracker_command/skel_to_joint_map/left_hip * /tracker_joint_controller/use_real_robot * /tracker_command/joint_controller_rate * /tracker_base_controller/command_rate * /tracker_command/skel_to_joint_map/right_hip * /tracker_base_controller/skel_to_joint_map/head * /tracker_command/skel_to_joint_map/neck * /tracker_base_controller/fixed_frame * /tracker_command/skel_to_joint_map/left_knee * /tracker_joint_controller/base_controller_rate * /tracker_command/max_rotation_speed * /tracker_command/holonomic * /tracker_joint_controller/skel_to_joint_map/right_hand * /tracker_command/skel_to_joint_map/right_elbow * /robotis_joint_controller/port * /tracker_joint_controller/skel_to_joint_map/left_hip * /tracker_command/scale_rotation_speed * /tracker_command/base_control_side * /tracker_joint_controller/base_control_side * /tracker_base_controller/joint_controller_rate * /tracker_command/skel_to_joint_map/left_hand * /tracker_base_controller/skel_to_joint_map/right_knee * /tracker_joint_controller/skel_to_joint_map/right_foot * /tracker_joint_controller/skel_to_joint_map/left_foot * /tracker_base_controller/max_rotation_speed * /tracker_joint_controller/scale_drive_speed * /tracker_joint_controller/tracking_rate * /tracker_joint_controller/skel_to_joint_map/left_hand

NODES / tracker_command (pi_tracker/tracker_command.py) tracker_base_controller (pi_tracker/tracker_base_controller.py) tracker_joint_controller (pi_tracker/tracker_joint_controller.py) robotis_joint_controller (pi_tracker/robotis_joint_controller.py)

ROS_MASTER_URI=http://nutan-desktop:11311/

core service [/rosout] found process[tracker_command-1]: started with pid [6185] process[tracker_base_controller-2]: started with pid [6186] process[tracker_joint_controller-3]: started with pid [6187] process[robotis_joint_controller-4]: started with pid [6188] Traceback (most recent call last): File "/home/nutan/pi/pi_tracker/bin/robotis_joint_controller.py", line 103, in <module> jc = joint_controller() File "/home/nutan/pi/pi_tracker/bin/robotis_joint_controller.py", line 58, in __init__ usb2dynamixel = USB2Dynamixel_Device(self.port) File "/home/nutan/pi/robotis/src/robotis/lib_robotis.py", line 54, in __init__ self._open_serial( baudrate ) File "/home/nutan/pi/robotis/src/robotis/lib_robotis.py", line 86, in _open_serial raise RuntimeError('lib_robotis: Serial port not found!\n') RuntimeError: lib_robotis: Serial port not found!

[INFO] 1300435773.701176: Shutting down joint command controller node... [INFO] 1300435773.706859: Initializing Tracker Command Node... [INFO] 1300435773.712698: Initializing Base Controller Node... [INFO] 1300435773.726363: Initializing Joint Controller Node... [robotis_joint_controller-4] process has died [pid 6188, exit code 1]. log files: /home/nutan/.ros/log/5ffee514-5133-11e0-b054-00e081b5d370/robotis_joint_controller-4*.log

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Hello,Mar.Did you realize that gestures control your robot by pi_tracker？ Can you tell me how to do it?Thank you very much

Jie Sky ( 2015-06-25 09:07:24 -0600 )edit

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answered 2011-03-18 02:02:10 -0600

Pi Robot
4046 ●134 ●158 ●192 http://www.pirobot.org/

updated 2011-03-18 02:05:56 -0600

Sorry about that. At some point I added the robotis joint controller directly to the launch file. To fix, remove the robotis include line from your tracker.launch file so that it looks like this:

<launch>
    <node name="tracker_command" pkg="pi_tracker" type="tracker_command.py" output="screen">
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />
    </node>

    <node name="tracker_base_controller" pkg="pi_tracker" type="tracker_base_controller.py" output="screen">
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />
    </node>

    <node name="tracker_joint_controller" pkg="pi_tracker" type="tracker_joint_controller.py" output="screen">
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />
    </node>
</launch>

I've also updated this in the SVN repository.

--patrick

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Thanks, patrick

Nutan ( 2011-03-20 13:42:42 -0600 )edit

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answered 2011-03-18 02:06:27 -0600

This post is a wiki. Anyone with karma >75 is welcome to improve it.

What you can do is remove "robotis.launch" related lines from the launch/tracker.launch file. If you need to use a real robot, just "roslaunch pi_tracker robotis.launch" manually.

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