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socket error when starting turtlebot 2

There is some error messages like this when starting. $roslaunch turtlebot_bringup minimal.launch

Unhandled exception in thread started by <bound method XmlRpcNode.run of <rosgraph.xmlrpc.XmlRpcNode object at 0xb2748ac>>
Traceback (most recent call last):
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rosgraph/xmlrpc.py", line 221, in run
    self._run()
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rosgraph/xmlrpc.py", line 291, in _run
    self._run_init()
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rosgraph/xmlrpc.py", line 240, in _run_init
    self.server = ThreadingXMLRPCServer((bind_address, port), log_requests)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rosgraph/xmlrpc.py", line 121, in __init__
    SimpleXMLRPCServer.__init__(self, addr, SilenceableXMLRPCRequestHandler, log_requests)
  File "/usr/lib/python2.7/SimpleXMLRPCServer.py", line 593, in __init__
    SocketServer.TCPServer.__init__(self, addr, requestHandler, bind_and_activate)
  File "/usr/lib/python2.7/SocketServer.py", line 408, in __init__
    self.server_bind()
  File "/usr/lib/python2.7/SocketServer.py", line 419, in server_bind
    self.socket.bind(self.server_address)
  File "/usr/lib/python2.7/socket.py", line 224, in meth
    return getattr(self._sock,name)(*args)
socket.error: [Errno 98] Address already in use
nodelet: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float, int Size = 4, int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion is explained here: " "eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
[FATAL] [1364184119.740399921]: Service call failed!
[FATAL] [1364184119.740399911]: Service call failed!
[mobile_base_nodelet_manager-4] process has died [pid 10142, exit code -6, cmd /opt/ros/groovy/lib/nodelet/nodelet manager __name:=mobile_base_nodelet_manager __log:=/home/turtlebot/.ros/log/b9f2cc7e-94f3-11e2-8ee7-446d57b4d698/mobile_base_nodelet_manager-4.log].
log file: /home/turtlebot/.ros/log/b9f2cc7e-94f3-11e2-8ee7-446d57b4d698/mobile_base_nodelet_manager-4*.log
[bumper2pointcloud-8] process has died [pid 10412, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load kobuki_bumper2pc/Bumper2PcNodelet mobile_base_nodelet_manager bumper2pointcloud/pointcloud:=mobile_base/sensors/bumper_pointcloud bumper2pointcloud/cliff_events:=mobile_base/events/cliff bumper2pointcloud/bumper_events:=mobile_base/events/bumper __name:=bumper2pointcloud __log:=/home/turtlebot/.ros/log/b9f2cc7e-94f3-11e2-8ee7-446d57b4d698/bumper2pointcloud-8.log].
log file: /home/turtlebot/.ros/log/b9f2cc7e-94f3-11e2-8ee7-446d57b4d698/bumper2pointcloud-8*.log
[mobile_base-5] process has died [pid 10158, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load kobuki_node/KobukiNodelet mobile_base_nodelet_manager mobile_base/odom:=odom mobile_base/enable:=enable mobile_base/disable:=disable mobile_base/joint_states:=joint_states __name:=mobile_base __log:=/home/turtlebot/.ros/log/b9f2cc7e-94f3-11e2-8ee7-446d57b4d698/mobile_base-5.log].
log file: /home/turtlebot/.ros/log/b9f2cc7e-94f3-11e2-8ee7-446d57b4d698/mobile_base-5*.log