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while running brown driver following is the problem

$ rosrun irobot_create_2_1 driver.py

Traceback (most recent call last):
File "/opt/ros/groovy/stacks/brown_drivers/irobot_create_2_1/bin/driver.py", line 138, in <module>
driver = CreateDriver()
File "/opt/ros/groovy/stacks/brown_drivers/irobot_create_2_1/bin/driver.py", line 21, in __init__
self.create = Create(port)
File "/opt/ros/groovy/stacks/brown_drivers/irobot_create_2_1/bin/irobot/create.py", line 144, in __init__
self.reset()
File "/opt/ros/groovy/stacks/brown_drivers/irobot_create_2_1/bin/irobot/create.py", line 175, in reset
self.__read(128,True)
File "/opt/ros/groovy/stacks/brown_drivers/irobot_create_2_1/bin/irobot/create.py", line 221, in __read
bytes = self.port.read(num)
File "/usr/local/lib/python2.7/dist-packages/pyserial-2.6-py2.7.egg/serial/serialposix.py", line 446, in read
ready,_,_ = select.select([self.fd],[],[], self._timeout)
select.error: (4, 'Interrupted system call')

Ros serial has its own serial packet format; I think, that does not supports the RS-232 packet format.
This is the reason that on every embedded hardware we need to install a rosserial_client program (a program compiled in hex code for specific target).

I have a robot base already designed using PIC microcontroller and can be controlled by sending command to the USB port means simply sending the serial data in ASCII code on USB port.

Please suggest me to write a node. Or if some one can share a sample node for the same it will be a learning platform.

I am having problem while connecting the kinect power using DB25 connector of Irobot create base. The connector circuit is designed by clearpath robotics to provide 12V DC power to kinect by taking power from pin 10 and 14 of DB25 connector of irobot create base.

I read to a tutorial by Prof. Jason O'Kane he says that : For the Kinect sensor to operate correctly, it must draw power from the Create’s battery. (The 5V available from the USB connection to the netbook is not sufficient; the Kinect needs at least 8V. Note that seeing blinking lights in the Kinect is, in my experience, not enough to know for sure that the Kinect is receiving the power it needs.) Your Turtlebot has a cable connecting the Kinect to the Create for this purpose, but by default that power supply is disabled. To enable it .........

rosrun create_node kinect_breaker_enabler.py

I tried it but this is not working. The create base is connected to ttyACM0 port as the serial to USB connector definition.

I need a time effective (the tutorial which let me learn the basic concepts easily with time effective way) tutorial that can let me learn C++ and python in context to programming in ROS. Please suggest.

the cereal_port package in fuerte provides easy programming for USB port communication but i am unable to found such a package for groovy.
rosserial package in groovy is very much typed for communication with AVR or with a microcontroller running rosserial_client.
the problem is that I have a robot base having PIC microcontroller with FTDI device. means the base is having a microcontroller based circuit for motor control. the microcontroller can actually handle RS-232 and the FTDI device converts RS-232 data in to packets of USB to support the communication. I just need to send specific data to USB port.
I am unable to write a rosnode to send data on USB0 port?

Using ROS I want to communicate with robot base which receives data through USB. So I want to write a ROS node that can write data on USB port. Please help me. can some one provide me python or C++ code for opening USB port, initializing it and to send the data on the port?

Every time when I need to start the brown_drivers irobot_create_2_1 I need to change the port /dev/ttyS0 to /dev/ttyACM0 using terminal command.

rosparam set /brown/irobot_create_2_1/port /dev/ttyACM0

moreover I need to get permission to open the port ttyACM0 (using terminal command as bellow) as my user at ubuntu system do not have access.

sudo chmod 0777 /dev/ttyACM0

Please tell me what change should I make in driver.py node of irobot_create_2_1 package so that I need not to change the port from /dev/ttyS0 to /dev/ttyACM0 every time? Please do tell me how I can get permanent access to open the port /dev/ttyACM0.

A tutorial link given on ROS wiki for Feurte-catkin but its not that way good as it is for Groovy-catkin. Please suggest a good tutorial on Feurte-catkin.

running the command on terminal

lsusb

it shows the serial to USB connectors connection as Sun Corp. (Suntac?):

Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
**Bus 003 Device 002: ID 05db:0012 Sun Corp. (Suntac?)**
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 138a:003d Validity Sensors, Inc. 
Bus 001 Device 005: ID 04f2:b230 Chicony Electronics Co., Ltd Integrated HP HD Webcam
Bus 002 Device 003: ID 0a5c:21e1 Broadcom Corp.

running the command as bellow: I got to know it is connected at ttyACM0

dmesg | grep tty

But when running command on terminal

rosrun irobot_create_2_1 driver.py

the message appeared as"

could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'

What are the packaged I need to install? What are the nodes that I need to run to control Irobot create base?

Please tell in detail.

The source files for turlebot_simulator are downloaded from github using link present on ros/wiki

Please tell me how to build these source file ..... I am a bit new so please tell in detail. Thanking you in advance.

I have Installed ROS Groovy. I have also installed Gazebo. Do not know how to integrate it.

I also installed simulator_gazeebo on ROS groovy. when I am running it using

roslaunch gazebo gazebo

its showing error: not able to connect with master

I created a package using catkin_create_pkg dependencies only roscpp created a node using c++ code and then edited CMakelist.txt then I used catkin_make to build it. the next step i need to do it is to run the following to ......

source devel/setup.bash

after this I tried to run the node by

rosrun <packagename> <nodename>

it showing error that can not find package

What i understand is that my package is not sourced properly to ROS? Please tell the solution. If i am wrong then please correct me and tell the solution.

PS: following the Prof. Jason O'Kane tutorial on ROS linked on ros.org

I have kinect which is working well and I can get image by running openni.launch and rviz. I want to subscribe this kinect image in to a node and change it to opencv image format from ros image format for image processing. for doing the same I am following the following page. http://dasl.mem.drexel.edu/wiki/index.php/How_to_make_ROS_and_Opencv_work_together

however using rosmake it is showing following error .....

/opt/ros/groovy/share/vision_opencv/roscv/src/simplecanny.cpp:12:32: fatal error: cv_bridge/CvBridge.h: No such file or directory
  compilation terminated.
  make[3]: *** [CMakeFiles/roscv.dir/src/simplecanny.cpp.o] Error 1
  make[3]: Leaving directory `/opt/ros/groovy/share/vision_opencv/roscv/build'
  make[2]: *** [CMakeFiles/roscv.dir/all] Error 2
  make[2]: Leaving directory `/opt/ros/groovy/share/vision_opencv/roscv/build'
  make[1]: *** [all] Error 2
  make[1]: Leaving directory `/opt/ros/groovy/share/vision_opencv/roscv/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package roscv written to:
[ rosmake ]    /home/admin-pc/.ros/rosmake/rosmake_output-20131207-114326/roscv/build_output.log
[rosmake-4] Finished <<< roscv [FAIL] [ 2.82 seconds ]                          
[ rosmake ] Halting due to failure in package roscv. 
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:                                                            
[ rosmake ] Built 39 packages with 1 failures.                                  
[ rosmake ] Summary output to directory                                         
[ rosmake ] /home/admin-pc/.ros/rosmake/rosmake_output-20131207-114326

I created a node using catkin work space after creating package the process of build is successful with following code .... but the problem is when I am running it using rosrun cvtest image_converter.cpp the run is successful but i am not getting the output.
The image_converter.cpp which suppose to subscribe sensor_msgs topic and convert the image to opencv::mat process the image and then display it back in ROS. To publish the message on sensor_msgs topic as the frame captured from kinect I am using roslaunch openni_launch openni.launch.
However I can see the image using rosrun image_view image_view image:=/camera/rgb/image_color which also subscribes the same topic sensor_msgs.

Tried it with eclipse also but it is not working at all and unable to find the problem even in eclipse. its running there but no output.

I am including the roswtf result also. (pls see after the code)

#include <ros ros.h="">
#include <image_transport image_transport.h="">
#include <cv_bridge cv_bridge.h="">
#include <sensor_msgs image_encodings.h="">
#include <opencv2 imgproc="" imgproc.hpp="">
#include <opencv2 highgui="" highgui.hpp="">

namespace enc = sensor_msgs::image_encodings;

static const char WINDOW[] = "Image window";

class ImageConverter
 {
   ros::NodeHandle nh_;
   image_transport::ImageTransport it_;
   image_transport::Subscriber image_sub_;
   image_transport::Publisher image_pub_;

public:
   ImageConverter()
     : it_(nh_)
   {
     image_pub_ = it_.advertise("out", 1);
     image_sub_ = it_.subscribe("in", 1, &amp;ImageConverter::imageCb, this);

     cv::namedWindow(WINDOW);
   }

   ~ImageConverter()
   {
     cv::destroyWindow(WINDOW);
   }

   void imageCb(const sensor_msgs::ImageConstPtr&amp; msg)
   {
     cv_bridge::CvImagePtr cv_ptr;
     try
     {
       cv_ptr = cv_bridge::toCvCopy(msg, enc::BGR8);
     }
     catch (cv_bridge::Exception&amp; e)
     {
       ROS_ERROR("cv_bridge exception: %s", e.what());
       return;
     }

     if (cv_ptr-&gt;image.rows &gt; 60 &amp;&amp; cv_ptr-&gt;image.cols &gt; 60)
       cv::circle(cv_ptr-&gt;image, cv::Point(50, 50), 10, CV_RGB(255,0,0));

     cv::imshow(WINDOW, cv_ptr-&gt;image);
     cv::waitKey(3);

     image_pub_.publish(cv_ptr-&gt;toImageMsg());
   }
 };

 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "image_converter");
   ImageConverter ic;
   ros::spin();
   return 0;
 }

Here is roswtf result

admin-pc@admin-pc:~/mywork$ roswtf
No package or stack in context
================================================================================
Static checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING You are missing core ROS Python modules: bloom -- rosrelease -- 
WARNING You are missing Debian packages for core ROS Python modules: bloom (python-bloom) -- rosrelease (python-rosrelease) -- 

================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules

Online checks summary:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /image_converter:
   * /in

</opencv2></opencv2></sensor_msgs></cv_bridge></image_transport></ros>

Getting this error after the update.

bash: /share/rosbash/rosbash: No such file or directory
ROS_ROOT=/share/ros: No such file or directory

Please tell me how to overcome that.

I created rosbuild workspace (mywork) and a package (test) within it.

I was trying to build the package using cmake command

[rosbuild] Building package test
[rosbuild] Error from directory check: /opt/ros/groovy/share/ros/core/rosbuild/bin/check_same_directories.py  /home/admin-pc/mywork/test
1
Traceback (most recent call last):
  File "/opt/ros/groovy/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in <module>
    raise Exception
Exception
CMake Error at /opt/ros/groovy/share/ros/core/rosbuild/private.cmake:102 (message):
  [rosbuild] rospack found package "test" at "", but the current directory is
  "/home/admin-pc/mywork/test".  You should double-check your
  ROS_PACKAGE_PATH to ensure that packages are found in the correct
  precedence order.
Call Stack (most recent call first):
  /opt/ros/groovy/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
  CMakeLists.txt:12 (rosbuild_init)


-- Configuring incomplete, errors occurred!

I am trying to write the python script to subscribe topic "cmd_vel_mux/input/teleop" as keyboard Teleop node publishes message on this topic

#!/usr/bin/env python

import roslib
roslib.load_manifest('test')
import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import String

def callback(data):
     print rospy.get_name(),  "%f %f %f %f %f %f" %data.linx %data.liny %data.linz %data.angx %data.angy %data.angz

def listener():
      rospy.init_node('subs1', anonymous=True)
      rospy.Subscriber("cmd_vel_mux/input/teleop", Twist, callback)
      rospy.spin()

if __name__ == '__main__' :
      listener()

Error on terminal ............

Traceback (most recent call last):
File "/home/admin-pc/mywork/test/scripts/subs1.py", line 4, in <module> roslib.load_manifest('test')
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
sys.path = _generate_python_path(package_name, _rospack) + sys.path
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
m = rospack.get_manifest(pkg)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 133, in get_manifest return self._load_manifest(name)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 172, in _load_manifest retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 164, in get_path raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: test
ROS path [0]=/opt/ros/groovy/share/ros
ROS path [1]=/opt/ros/groovy/share
ROS path [2]=/opt/ros/groovy/stacks
ROS path [3]=/home/admin-pc/mywork
ROS path [4]=/home/admin-pc/ros_workspace$

As some time I need to interact on groovy as well as Fuerte to check the compatibility for some package, so got to have thought to install both on the same system.

May I do the same?
if yes then, What are pros and cons ?
and, How to operate both side by side if possible?

#!/usr/bin/env python

from serial import Serial
from time import sleep

class Create:

    def __init__(self, tty="/dev/ttyUSB0"):

        self.timeout = 5
        self.port = Serial(tty, 57600, timeout= self.timeout)


    def start(self):


        self.__sendNow(P,0,0,0)
        sleep(1)
        self.__sendNow(V,0,0,100)
        sleep(10)


    def stop(self):

        self.__sendNow(V,0,0,0)

/home/admin-pc/mywork/test/scripts/create.py: line 1: This module provides a class wrapping an Exia.: command not found
from: can't read /var/mail/serial
from: can't read /var/mail/time
/home/admin-pc/mywork/test/scripts/create.py: line 6: class: command not found
/home/admin-pc/mywork/test/scripts/create.py: line 7: Wrapper class for the iRobot Create: command not found
/home/admin-pc/mywork/test/scripts/create.py: line 9: syntax error near unexpected token ('/home/admin-pc/mywork/test/scripts/create.py: line 9: def __init__(self, tty="/dev/ttyUSB0"):'