nsprague's profile - activity

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 ...

Update:

It turns out that the problem has something to do with the instruction set available on the CPU. The exact same setup (booting from the same iso) works fine on a Core i7-3820, but dies on a Celeron 847. I suspect that the issue is similar to the Fuerte bug described here: https://github.com/ros-perception/perception_pcl/issues/10 . If anyone can suggest a workaround (that doesn't involve recompiling PCL across an entire teaching lab worth of machines), I would appreciate it.

Running the move_base node in gdb gives:

Program received signal SIGILL, Illegal instruction.
0x00007ffff35c9d3f in std::vector<double, std::allocator<double> >::_M_insert_aux(__gnu_cxx::__normal_iterator<double*, std::vector<double, std::allocator<double> > >, double const&) () from /usr/lib/libpcl_common.so.1.7

And valgrind shows the following:

vex amd64->IR: unhandled instruction bytes: 0xC5 0xFB 0x10 0x2 0xC5 0xFB 0x11 0x0
==16678== valgrind: Unrecognised instruction at address 0x944fd3f.
==16678==    at 0x944FD3F: std::vector<double, std::allocator<double> >::_M_insert_aux(__gnu_cxx::__normal_iterator<double*, std::vector<double, std::allocator<double> > >, double const&) (in /usr/lib/libpcl_common.so.1.7.0)
==16678==    by 0x1927C2AD: std::vector<double, std::allocator<double> >::push_back(double const&) (in /opt/ros/hydro/lib/libtrajectory_planner_ros.so)
==16678==    by 0x1928B2B2: base_local_planner::TrajectoryPlannerROS::loadYVels(ros::NodeHandle) (in /opt/ros/hydro/lib/libtrajectory_planner_ros.so)
==16678==    by 0x19289D89: base_local_planner::TrajectoryPlannerROS::initialize(std::string, tf::TransformListener*, costmap_2d::Costmap2DROS*) (in /opt/ros/hydro/lib/libtrajectory_planner_ros.so)
==16678==    by 0x4F567DA: move_base::MoveBase::MoveBase(tf::TransformListener&) (in /opt/ros/hydro/lib/libmove_base.so)
==16678==    by 0x40780B: main (in /opt/ros/hydro/lib/move_base/move_base)
==16678== Your program just tried to execute an instruction that Valgrind
==16678== did not recognise.  There are two possible reasons for this.
==16678== 1. Your program has a bug and erroneously jumped to a non-code
==16678==    location.  If you are running Memcheck and you just saw a
==16678==    warning about a bad jump, it's probably your program's fault.
==16678== 2. The instruction is legitimate but Valgrind doesn't handle it,
==16678==    i.e. it's Valgrind's fault.  If you think this is the case or
==16678==    you are not sure, please let us know and we'll try to fix it.
==16678== Either way, Valgrind will now raise a SIGILL signal which will
==16678== probably kill your program.
==16678== 
==16678== Process terminating with default action of signal 4 (SIGILL)
==16678==  Illegal opcode at address 0x944FD3F
==16678==    at 0x944FD3F: std::vector<double, std::allocator<double> >::_M_insert_aux(__gnu_cxx::__normal_iterator<double*, std::vector<double, std::allocator<double> > >, double const&) (in /usr/lib/libpcl_common.so.1.7.0)
==16678==    by 0x1927C2AD: std::vector<double, std::allocator<double> >::push_back(double const&) (in /opt/ros/hydro/lib/libtrajectory_planner_ros.so)
==16678==    by 0x1928B2B2: base_local_planner::TrajectoryPlannerROS::loadYVels(ros::NodeHandle) (in /opt/ros/hydro/lib/libtrajectory_planner_ros.so)
==16678==    by 0x19289D89: base_local_planner::TrajectoryPlannerROS::initialize(std::string, tf::TransformListener*, costmap_2d::Costmap2DROS*) (in /opt/ros/hydro/lib/libtrajectory_planner_ros.so)
==16678==    by 0x4F567DA: move_base::MoveBase::MoveBase(tf::TransformListener&) (in /opt/ros/hydro/lib/libmove_base.so)
==16678==    by 0x40780B: main (in /opt/ros ...