Aroarus's profile - activity

I am trying to run the navigation demo in Fuerte and 12.04 Precise, after completely successfully running the SLAM GMAP demo, and I get the following rolling list of errors which goes on forever. Does anyone know what might be wrong?

rscan/CloudThrottle openni_manager cloud_in:=/camera/depth/points cloud_out:=cloud_throttled __name:=pointcloud_throttle __log:=/home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/pointcloud_throttle-4.log].
log file: /home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/pointcloud_throttle-4*.log
respawning...
[pointcloud_throttle-4] restarting process
process[kinect_laser_narrow-6]: started with pid [8744]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[pointcloud_throttle-4]: started with pid [8746]
[openni_launch-3] process has died [pid 8605, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load openni_camera/OpenNINodelet openni_manager __name:=openni_launch __log:=/home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/openni_launch-3.log].
log file: /home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/openni_launch-3*.log
respawning...
[openni_launch-3] restarting process
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[openni_launch-3]: started with pid [8772]
[kinect_laser-5] process has died [pid 8632, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load pointcloud_to_laserscan/CloudToScan openni_manager cloud:=/cloud_throttled __name:=kinect_laser __log:=/home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/kinect_laser-5.log].
log file: /home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/kinect_laser-5*.log
respawning...
[kinect_laser_narrow-6] process has died [pid 8635, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load pointcloud_to_laserscan/CloudToScan openni_manager cloud:=/cloud_throttled scan:=/narrow_scan __name:=kinect_laser_narrow __log:=/home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/kinect_laser_narrow-6.log].
log file: /home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/kinect_laser_narrow-6*.log
respawning...
[kinect_laser-5] restarting process
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[kinect_laser-5]: started with pid [8824]
[kinect_laser_narrow-6] restarting process
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[kinect_laser_narrow-6]: started with pid [8829]
[ INFO] [1347468668.184002927]: Sim period is set to 0.20
[openni_launch-3] process has died [pid 8693, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load openni_camera/OpenNINodelet openni_manager __name:=openni_launch __log:=/home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/openni_launch-3.log].
log file: /home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/openni_launch-3*.log
respawning...
[openni_launch-3] restarting process
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[openni_launch-3]: started with pid [8884]
[pointcloud_throttle-4] process has died [pid 8643, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load pointcloud_to_laserscan/CloudThrottle openni_manager cloud_in:=/camera/depth/points cloud_out:=cloud_throttled __name:=pointcloud_throttle __log:=/home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/pointcloud_throttle-4.log].
log file: /home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/pointcloud_throttle-4*.log
respawning...
[kinect_laser-5] process has died [pid 8741, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load pointcloud_to_laserscan/CloudToScan openni_manager cloud:=/cloud_throttled __name:=kinect_laser __log:=/home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/kinect_laser-5.log].
log file: /home/turtlebot/.ros/log/661c8e88-fcf9-11e1-8620-485d607f80f5/kinect_laser-5*.log
respawning...
[kinect_laser_narrow-6] process ...

I have a turtlebot that was working properly in Diamondback, but when I upgraded it to electric (and upgraded the operating system on the workstation and netbook to Ubuntu 11.10), I am having several errors with the turtlebot.

1) The turtlebot restarts it's service continuously when I launch minimal.launch or turtlebot.launch, with the following output:

    turtlebot@turtlebot-laptop:/opt/ros/electric/stacks/turtlebot/turtlebot_bringup/upstart$ roslaunch turtlebot.launch 
... logging to /home/turtlebot/.ros/log/7dcff916-484a-11e1-b127-485d607f80f5/roslaunch-turtlebot-laptop-30106.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://192.168.11.59:44682/

SUMMARY
========

PARAMETERS
 * /use_sim_time
 * /robot_pose_ekf/sensor_timeout
 * /diagnostic_aggregator/analyzers/sensors/path
 * /robot_pose_ekf/imu_used
 * /turtlebot_node/odom_angular_scale_correction
 * /robot/name
 * /diagnostic_aggregator/analyzers/mode/timeout
 * /diagnostic_aggregator/analyzers/sensors/timeout
 * /diagnostic_aggregator/analyzers/power/type
 * /turtlebot_node/update_rate
 * /diagnostic_aggregator/analyzers/power/timeout
 * /diagnostic_aggregator/analyzers/mode/type
 * /turtlebot_node/gyro_scale_correction
 * /diagnostic_aggregator/analyzers/digital_io/path
 * /diagnostic_aggregator/analyzers/digital_io/timeout
 * /rosdistro
 * /robot_pose_ekf/odom_used
 * /robot_description
 * /diagnostic_aggregator/base_path
 * /robot_pose_ekf/freq
 * /app_manager/interface_master
 * /robot_pose_ekf/vo_used
 * /diagnostic_aggregator/analyzers/sensors/type
 * /diagnostic_aggregator/analyzers/digital_io/startswith
 * /diagnostic_aggregator/analyzers/power/path
 * /robot_pose_ekf/output_frame
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/digital_io/type
 * /diagnostic_aggregator/analyzers/mode/startswith
 * /rosversion
 * /diagnostic_aggregator/pub_rate
 * /robot_state_publisher/publish_frequency
 * /diagnostic_aggregator/analyzers/sensors/startswith
 * /diagnostic_aggregator/analyzers/power/startswith
 * /turtlebot_node/bonus
 * /robot/type
 * /robot_pose_ekf/publish_tf

NODES
  /
    appmaster (app_manager/appmaster)
    app_manager (app_manager/app_manager)
    turtlebot_node (turtlebot_node/turtlebot_node.py)
    turtlebot_laptop_battery (turtlebot_node/laptop_battery.py)
    robot_state_publisher (robot_state_publisher/state_publisher)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)

ROS_MASTER_URI=http://192.168.11.59:11311

core service [/rosout] found
process[appmaster-1]: started with pid [30127]
process[app_manager-2]: started with pid [30128]
process[turtlebot_node-3]: started with pid [30129]
process[turtlebot_laptop_battery-4]: started with pid [30130]
process[robot_state_publisher-5]: started with pid [30131]
process[diagnostic_aggregator-6]: started with pid [30132]
process[robot_pose_ekf-7]: started with pid [30133]
Unhandled exception in thread started by <bound method XmlRpcNode.run of <roslib.xmlrpc.XmlRpcNode object at 0x261fbd0>>
Traceback (most recent call last):
  File "/opt/ros/electric/ros/core/roslib/src/roslib/xmlrpc.py", line 195, in run
    self._run()
  File "/opt/ros/electric/ros/core/roslib/src/roslib/xmlrpc.py", line 218, in _run
    self.server = ThreadingXMLRPCServer((bind_address, port), log_requests)
  File "/opt/ros/electric/ros/core/roslib/src/roslib/xmlrpc.py", line 98, in __init__
    SimpleXMLRPCServer.__init__(self, addr, SilenceableXMLRPCRequestHandler, log_requests)
  File "/usr/lib/python2.7/SimpleXMLRPCServer.py", line 590, 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
[ WARN] [1327603137.252565670]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
turtlebot_apps.installed
loading installation data for [turtlebot_apps.installed]
[INFO] [WallTime: 1327603138.372287] Starting app manager for ...

I am trying to put the ros.pde sketch onto the ArbotiX board that I am using for the turtlebot arm, and I get the following compile errors when I try to upload or verify the sketch:

ros.cpp:46:47: error: no matching function for call to ‘BioloidController::BioloidController()’
/home/marc/sketchbook/libraries/Bioloid/BioloidController.h:48:5: note: candidates are: BioloidController::BioloidController(long int)
/home/marc/sketchbook/libraries/Bioloid/BioloidController.h:45:1: note:                 BioloidController::BioloidController(const BioloidController&)
ros.cpp: In function ‘void loop()’:
ros.cpp:352:32: error: ‘class BioloidController’ has no member named ‘setup’
ros.cpp:386:40: error: ‘class BioloidController’ has no member named ‘setup’
ros.cpp:388:42: error: ‘class BioloidController’ has no member named ‘setId’
ros.cpp:404:77: error: ‘class BioloidController’ has no member named ‘getId’

I have the updated version of the BioloidController library and the newest version of the ros.pde sketch, although I will copy them here for completeness's sake:

ros.pde:

    /* 
  ArbotiX Firmware for ROS driver
  Copyright (c) 2008-2011 Vanadium Labs LLC.  All right reserved.

  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions are met:
      * Redistributions of source code must retain the above copyright
        notice, this list of conditions and the following disclaimer.
      * Redistributions in binary form must reproduce the above copyright
        notice, this list of conditions and the following disclaimer in the
        documentation and/or other materials provided with the distribution.
      * Neither the name of Vanadium Labs LLC nor the names of its 
        contributors may be used to endorse or promote products derived 
        from this software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
  OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
  LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
  OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
  ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ 

/* Build Configuration */
#define USE_BASE            // Enable support for a mobile base
#define USE_BIG_MOTORS      // Enable Pololu 30A support
#define USE_HW_SERVOS       // Enable only 2/8 servos, but using hardware control

#define CONTROLLER_COUNT    5
/* Hardware Constructs */
#include <ax12.h>
#include <BioloidController.h>
BioloidController controllers[CONTROLLER_COUNT];

#include "ros.h"

#ifdef USE_HW_SERVOS
  #include <HServo.h>
  HServo servos[2];
  int servo_vals[2];            // in millis
#else 
  #include <Servo.h>
  Servo servos[10];
  int servo_vals[10];           // in millis
#endif

#ifdef USE_BASE
  #ifdef USE_BIG_MOTORS
    #include <BigMotors.h>
    BigMotors drive = BigMotors();
  #else
    #include <Motors2.h>
    Motors2 drive = Motors2();
  #endif
  #include <EncodersAB.h>
  #include "diff_controller.h"
#endif

/* Register Storage */
unsigned char baud = 7;         // ?
unsigned char ret_level = 1;    // ?
unsigned char alarm_led = 0;    // ?

/* Pose & Sequence ...

Hello! I am trying to use the program PyPose to control the turtlebot arm but I am running into a series of weird errors as I use it. I have the computer plugged into the ArbotiX board via a USB - Serial TTL cable, and the board is then wired into the arm correctly as per the tutorial instructions. When I run PyPose and try to capture a pose, it says it cannot read any of the 5 servos, but when I move the sliders and hit "set" the arm moves in a fast and jerky manner to a relatively random position. It does not slow down if I increase the delta-T, and the position it moves to is only slightly related to the position of the sliders. Also, all the servos move during the motion, even if only one of the sliders was changed. Does anyone know why this might be happening? I am happy to provide more information, but do not know what else would be useful!

Edit: I am trying to compile the pypose.pde sketch, but I am getting the following error:

In file included from /usr/lib/gcc/avr/4.5.3/../../../avr/include/util/delay.h:44:0,
                 from /usr/lib/gcc/avr/4.5.3/../../../avr/include/avr/delay.h:37,
                 from /home/marc/sketchbook/hardware/arbotix/cores/arbotix/wiring_private.h:30,
                 from /home/marc/sketchbook/hardware/arbotix/cores/arbotix/WInterrupts.c:33:
/usr/lib/gcc/avr/4.5.3/../../../avr/include/math.h:426:15: error: expected identifier or ‘(’ before ‘double’
/usr/lib/gcc/avr/4.5.3/../../../avr/include/math.h:426:15: error: expected ‘)’ before ‘>=’ token

The specific part of the math.h file in question is:

/**
    The round() function rounds \a __x to the nearest integer, but rounds
    halfway cases away from zero (instead of to the nearest even integer).
    Overflow is impossible.

    \return The rounded value. If \a __x is an integral or infinite, \a
    __x itself is returned. If \a __x is \c NaN, then \c NaN is returned.
 */
extern double round (double __x) __ATTR_CONST__;  /** Line 426 */
#define roundf  round       /**< The alias for round(). */

All of my settings in the Arduino environment are correct (board type, serial port). Do you have any idea how to fix this error? I never modified the math.h file after downloading it (other than the comment indicating which line was 426 for this post). Thank you very much!

I have also tried uploading the program directly using a terminal command:

sudo avrdude -p m644p -P /dev/ttyUSB0 -F -c dasa -U flash:w:pypose.pde

Which I put together from reading various forums. It produces the following message:

avrdude: AVR device not responding
avrdude: initialization failed, rc=-1
avrdude: AVR device initialized and ready to accept instructions
avrdude: Device signature = 0x000000
avrdude: Yikes!  Invalid device signature.
avrdude: Expected signature for ATMEGA644P is 1E 96 0A
avrdude: NOTE: FLASH memory has been specified, an erase cycle will be performed
         To disable this feature ...

Hello! I was trying to follow the turtlebot arm setup tutorial and I got the following error when trying to install simple arms:

$ rosmake --rosdep-install simple_arms
[ rosmake ] Packages requested are: ['simple_arms']                             
[ rosmake ] Logging to directory/home/marc/.ros/rosmake/rosmake_output-20111013-160200
[ rosmake ] Expanded args ['simple_arms'] to:
[]                                
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['simple_arms']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.

Does anyone have an idea of why I am getting this error, and how I should go about fixing it?

In addition to this, I am getting the following error upon trying to run the next step, to install the turtlebot_arm software.

marc@marc-howard:~/ros$ hg clone hg https://kforge.ros.org/turtlebot/turtlebot_arm
abort: repository hg not found!

I don't know if this is because of the previous problem or if that is it's own problem. Any help would be appreciated! Thank you very much!

Thank you very much! I have attached my command history for getting it set up below so that everything can be seen:

marc@marc-howard:~$ cd ~/ros
marc@marc-howard:~/ros$ svn co http://vanadium-ros-pkg.googlecode.com/svn/trunk/simple_arms/
A    simple_arms/simple_grasping
A    simple_arms/simple_grasping/include
A    simple_arms/simple_grasping/include/simple_grasping
A    simple_arms/simple_grasping/manifest.xml
A    simple_arms/simple_grasping/src
A    simple_arms/simple_grasping/CMakeLists.txt
A    simple_arms/simple_grasping/Makefile
A    simple_arms/stack.xml
A    simple_arms/simple_arm_actions
A    simple_arms/simple_arm_actions/manifest.xml
A    simple_arms/simple_arm_actions/bin
A    simple_arms/simple_arm_actions/bin/relax_arm_server.py
A    simple_arms/simple_arm_actions/bin/reset_arm_server.py
A    simple_arms/simple_arm_actions/CMakeLists.txt
A    simple_arms/simple_arm_actions/action
A    simple_arms/simple_arm_actions/action/RelaxArm.action
A    simple_arms/simple_arm_actions/action/ResetArm.action
A    simple_arms/simple_arm_actions/Makefile
A    simple_arms/CMakeLists.txt
A    simple_arms/Makefile
A    simple_arms/simple_arm_server
A    simple_arms/simple_arm_server/manifest.xml
A    simple_arms/simple_arm_server/msg
A    simple_arms/simple_arm_server/msg/ArmAction.msg
A    simple_arms/simple_arm_server/src
A    simple_arms/simple_arm_server/src/simple_arm_navigation_server.cpp
A    simple_arms/simple_arm_server/nodes
A    simple_arms/simple_arm_server/nodes/simple_arm_server_test.py
A    simple_arms/simple_arm_server/nodes/simple_arm_server.py
A    simple_arms/simple_arm_server/nodes/constraint_aware_simple_arm_server.py
A    simple_arms/simple_arm_server/srv
A    simple_arms/simple_arm_server/srv/GetTrajectoryValidity.srv
A    simple_arms/simple_arm_server/mainpage.dox
A    simple_arms/simple_arm_server/launch
A    simple_arms/simple_arm_server/launch/arm_server.launch
A    simple_arms/simple_arm_server/CMakeLists.txt
A    simple_arms/simple_arm_server/action
A    simple_arms/simple_arm_server/action/MoveArm.action
A    simple_arms/simple_arm_server/Makefile
Checked out revision 587.
marc@marc-howard:~/ros$ rosmake --rosdep-install simple_arms
[ rosmake ] Packages requested are: ['simple_arms']                             
[ rosmake ] Logging to directory/home/marc/.ros/rosmake/rosmake_output-20111013-160043
[ rosmake ] Expanded args ['simple_arms'] to:
[]                                
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['simple_arms']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.
marc@marc-howard:~/ros$ ls
simple_arms
marc@marc-howard:~/ros$ cd simple_arms/
marc@marc-howard:~/ros/simple_arms$ rosmake --rosdep-install simple_arms
[ rosmake ] Packages requested are: ['simple_arms']                             
[ rosmake ] Logging to directory/home/marc/.ros/rosmake/rosmake_output-20111013-160108
[ rosmake ] Expanded args ['simple_arms'] to:
[]                                
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['simple_arms']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack ...

I am running the turtlebot calibration procedure for my turtlebot and I am getting a long list of scrolling errors and process restarts when I run the command:

roslaunch turtlebot_calibration calibrate.launch

I have run this before and it has worked, but now I am getting a long stream of the following. I also have a weird error that when I run any ros packages the green power light on the create turns off... but it runs anyway (such as teleop or calibrate). Namely the light turns off, the diagnostic pane says power system error, but the breaker is lit up green and the dashboard shows it to be in full mode and it responds to keyboard commands. The error I get when running calibrate.launch is below:

... logging to /home/turtlebot/.ros/log/4dd2b4ee-d4b2-11e0-89cd-485d607f80f5/roslaunch-turtlebot-laptop-600.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://192.168.11.59:33068/

SUMMARY
========

PARAMETERS
 * /openni_camera/depth_time_offset
 * /openni_camera/image_mode
 * /kinect_laser/output_frame_id
 * /openni_camera/depth_rgb_translation
 * /pointcloud_throttle/max_rate
 * /openni_camera/depth_mode
 * /openni_camera/shift_offset
 * /scan_to_angle/min_angle
 * /kinect_laser/min_height
 * /openni_camera/depth_rgb_rotation
 * /kinect_laser_narrow/max_height
 * /scan_to_angle/max_angle
 * /kinect_laser/max_height
 * /rosdistro
 * /openni_camera/projector_depth_baseline
 * /kinect_laser_narrow/output_frame_id
 * /rosversion
 * /openni_camera/debayering
 * /openni_camera/depth_frame_id
 * /openni_camera/image_time_offset
 * /openni_camera/depth_registration
 * /kinect_laser_narrow/min_height
 * /openni_camera/rgb_frame_id

NODES
  /
    kinect_breaker_enabler (turtlebot_node/kinect_breaker_enabler.py)
    openni_manager (nodelet/nodelet)
    openni_camera (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)
    scan_to_angle (turtlebot_calibration/scan_to_angle.py)
    turtlebot_calibration (turtlebot_calibration/calibrate.py)

ROS_MASTER_URI=http://192.168.11.59:11311

core service [/rosout] found
process[kinect_breaker_enabler-1]: started with pid [745]
process[openni_manager-2]: started with pid [752]
process[openni_camera-3]: started with pid [760]
process[pointcloud_throttle-4]: started with pid [767]
process[kinect_laser-5]: started with pid [773]
process[kinect_laser_narrow-6]: started with pid [785]
process[scan_to_angle-7]: started with pid [802]
process[turtlebot_calibration-8]: started with pid [810]
Caught exception while logging: [Cannot use ros::Time::now() before the first NodeHandle has been created or ros::start() has been called.  If this is a standalone app or test that just uses ros::Time and does not communicate over ROS, you may also call ros::Time::init()]
Caught exception while logging: [Cannot use ros::Time::now() before the first NodeHandle has been created or ros::start() has been called.  If this is a standalone app or test that just uses ros::Time and does not communicate over ROS, you may also call ros::Time::init()]
[pointcloud_throttle-4] process has finished cleanly.
log file: /home/turtlebot/.ros/log/4dd2b4ee-d4b2-11e0-89cd-485d607f80f5/pointcloud_throttle-4*.log
respawning...
[pointcloud_throttle-4] restarting process
process[pointcloud_throttle-4]: started with pid [1057]
[ INFO] [1314893216.963954647]: [/openni_camera] No devices connected.... waiting for devices to be connected
[INFO] [WallTime: 1314893217.065955] Estimating imu drift
[INFO] [WallTime: 1314893217.367307] Still waiting for imu
[pointcloud_throttle-4] process has finished cleanly.
log file: /home/turtlebot/.ros/log/4dd2b4ee-d4b2-11e0-89cd-485d607f80f5/pointcloud_throttle-4*.log
respawning...
[pointcloud_throttle-4] restarting process
process[pointcloud_throttle-4]: started with pid [1165]
[INFO] [WallTime: 1314893217.669826] Still waiting for imu
[INFO] [WallTime: 1314893217.971408] Still waiting for imu
[ INFO] [1314893217.972921728]: [/openni_camera] No devices connected.... waiting for devices ...

I have been running the SLAM map building tutorial with the turtlebot and I have been having a problem where the turtlebot image in Rviz does not rotate nearly as much as the actual real life turtlebot. This causes the map that is being created to be completely wrong, as the turtlebot is not putting the data it finds in the right place on the map. I have run the gyro and odometer calibration and have set the rosparams to the proper values. I am also getting an error in Rviz under the robot model:

rear_wheel_link No transform from [rear_wheel_link] to [/map]

and a warning under the path (path) and pose array (pose array) that says "no messages received"

as a further error, my turtlebot dashboard diagnostics is giving me an error:

Full name: /Sensors/Gyro Sensor Component: Gyro Sensor Hardware ID:

Level: Error Message: Bad Gyro Calibration

Gyro Enabled: True Raw Gyro Rate: 5 Calibration Offset: 5 Calibration Buffer: [5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5 ... (more)