TF2-MD6(yp-spur)からの不正パケット送信及び異常終了

[yasu80]

@marubashi11 の環境で発生, 不正パケットの送信があったとコンソール出力があり ,以後唐突に終了する. 同一環境にて私のマシン( 4.4.0-97-generic)では発生せず. Linuxカーネル4.11系環境下(Ubuntu16.04-hwe-edge)にて発生.

https://github.com/open-rdc/orne_navigation/issues/14 にも

公式ページで情報を確認したところ、LinuxカーネルのバージョンによってはFTDIチップのドライバにバグがあり、通信ができなくなるということがわかりました。

との報告がみられるが, 出典がないため詳細不明.

エラーログをください.

[marubashi11]

[ERROR] [1508385744.218176146]: Couldn't open joystick /dev/input/js0. Will retry every second. [openUSB-2] process has died [pid 22676, exit code 1, cmd /home/marubashi/fifth_ws/src/fifth_robot_pkg/src/fifth_robot_pkgs/fifth_robot_launcher/shell/openUSB.sh name:=openUSB log:=/home/marubashi/.ros/log/4fde6164-b482-11e7-9a7d-a8137493dc16/openUSB-2.log]. log file: /home/marubashi/.ros/log/4fde6164-b482-11e7-9a7d-a8137493dc16/openUSB-2.log [ypspur_coordinator-3] process has died [pid 22678, exit code 127, cmd /home/marubashi/fifth_ws/src/fifth_robot_pkg/src/third_party/ypspur_ros_bridge/scripts/ypspur-coordinator.sh -p /home/marubashi/fifth_ws/src/fifth_robot_pkg/src/fifth_robot_pkgs/fifth_robot_launcher/ypspur_params/fifth_robot.param -d /dev/serial/by-id/usb-T-frog_project_T-frog_Driver-if00 __name:=ypspur_coordinator __log:=/home/marubashi/.ros/log/4fde6164-b482-11e7-9a7d-a8137493dc16/ypspur_coordinator-3.log]. log file: /home/marubashi/.ros/log/4fde6164-b482-11e7-9a7d-a8137493dc16/ypspur_coordinator-3.log

teleop.launchを実行しようとすると、まずこのエラーが出て不正パケットの送信エラーまで行きません。 このエラーを回避するための手順を忘れてしまったのですが、もう一度教えていただけますか？

[yasu80]

@marubashi11 chmod 777 /dev/serial/by-id/（デバイス）

又はシェルで同じこと

たしかエラーコードをホームに保存した

[marubashi11]

error (copy).txt

Please tell me if this link can't open. (Sorry, now I can't enter Japanese.)

[marubashi11]

marubashi@ubuntu-CFSZ6-1L:~/fifth_ws$ ls build devel src marubashi@ubuntu-CFSZ6-1L:~/fifth_ws$ source devel/setup.bash marubashi@ubuntu-CFSZ6-1L:~/fifth_ws$ source devel/setup.bash marubashi@ubuntu-CFSZ6-1L:~/fifth_ws$ rosrun fifth_robot_launcher openUSB.sh chmod: cannot access '/dev/serial/by-id/usb-T-frog_project_T-frog_Driver-if00': No such file or directory marubashi@ubuntu-CFSZ6-1L:~/fifth_ws$ rosrun fifth_robot_launcher openUSB.sh marubashi@ubuntu-CFSZ6-1L:~/fifth_ws$ roslaunch fifth_robot_launcher teleop.launch ... logging to /home/marubashi/.ros/log/311b9ea4-b4a5-11e7-a453-a8137493dc16/roslaunch-ubuntu-CFSZ6-1L-18332.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://ubuntu-CFSZ6-1L:34661/

SUMMARY

PARAMETERS

• /joy_node/autorepeat_rate: 20
• /joy_node/deadzone: 0.3
• /joy_node/dev: /dev/input/js0
• /rosdistro: kinetic
• /rosversion: 1.12.7
• /teleop_twist_joy/axis_angular: 0
• /teleop_twist_joy/axis_linear: 1
• /teleop_twist_joy/enable_button: 8
• /teleop_twist_joy/enable_turbo_button: 10
• /teleop_twist_joy/scale_angular: 1.0
• /teleop_twist_joy/scale_linear: 1.0
• /teleop_twist_joy/scale_linear_turbo: 2.0

NODES / joy_node (joy/joy_node) openUSB (fifth_robot_launcher/openUSB.sh) teleop_master_node (teleop_master/teleop_master_node) teleop_twist_joy (teleop_twist_joy/teleop_node) ypspur_coordinator (ypspur_ros_bridge/ypspur-coordinator.sh) ypspur_ros_bridge (ypspur_ros_bridge/wait_and_ypspur_ros_bridge.sh)

auto-starting new master process[master]: started with pid [18343] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 311b9ea4-b4a5-11e7-a453-a8137493dc16 process[rosout-1]: started with pid [18356] started core service [/rosout] process[openUSB-2]: started with pid [18367] sudo: no tty present and no askpass program specified process[ypspur_coordinator-3]: started with pid [18375] ++++++++++++++++++++++++++++++++++++++++++++++++++ YamabicoProject-Spur Ver. 1.14.0 ++++++++++++++++++++++++++++++++++++++++++++++++++ with SSM

SSM is not available. Device Information Port : /dev/serial/by-id/usb-T-frog_project_T-frog_Driver-if00 process[ypspur_ros_bridge-4]: started with pid [18377] process[teleop_master_node-5]: started with pid [18379] process[joy_node-6]: started with pid [18380] process[teleop_twist_joy-7]: started with pid [18388] [openUSB-2] process has died [pid 18367, exit code 1, cmd /home/marubashi/fifth_ws/src/fifth_robot_pkg/src/fifth_robot_pkgs/fifth_robotlauncher/shell/openUSB.sh name:=openUSB log:=/home/marubashi/.ros/log/311b9ea4-b4a5-11e7-a453-a8137493dc16/openUSB-2.log]. log file: /home/marubashi/.ros/log/311b9ea4-b4a5-11e7-a453-a8137493dc16/openUSB-2*.log Warn: Baudrate setting is not supported on this device. Applying parameters. YP-Spur coordinator started. Warn: Illegal packet 'SS038400' received. Warn: Illegal packet '04T' received. Warn: Illegal packet '' received. Warn: Illegal packet 'SS038400' received. Warn: Illegal packet '04T' received. Warn: Illegal packet '' received. Warn: Illegal packet 'SS038400' received. Trajectory control loop started. Warn: Illegal packet '04T' received. Warn: Illegal packet '' received. Warn: Illegal packet 'F@@@A@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'FP@@@@@C' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet '@@@@@Bb' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'Ap@@@@@O' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'AP@@@@@O' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'F@@@A@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Command analyzer started. Warn: Illegal packet 'FP@@@@@C' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet '@@@@@Bb' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'F@@@@@FP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'Ep@@BR@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'DPCmP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'Ap@@@@@O' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'AP@@@@@O' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'F@@@A@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'FP@@@@@C' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet '@@@@@Bb' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'F@@@@@FP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'Ep@@BR_@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'F@@@@@FP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'DPGmP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'ED@@@@@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'DpG|Kw@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'EpD@BR@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'Ep@@BR@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'DPCmP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'AP@@@@@O' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'F@@@@@FP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'DPGmP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'E`D@@@@@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'DpG|Kw@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'EpD@BR@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'Ep@@BR@' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'DPCmP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Warn: Illegal packet 'F@@@@@FP' received. Warn: Illegal packet '0Ee' received. Warn: Illegal packet '' received. Connection to /dev/serial/by-id/usb-T-frog_project_T-frog_Driver-if00 was closed. Trajectory control loop stopped. [ypspur_coordinator-3] process has died [pid 18375, exit code 1, cmd /home/marubashi/fifth_ws/src/fifth_robot_pkg/src/third_party/ypspur_ros_bridge/scripts/ypspur-coordinator.sh -p /home/marubashi/fifth_ws/src/fifth_robot_pkg/src/fifth_robot_pkgs/fifth_robot_launcher/ypspur_params/fifth_robot.param -d /dev/serial/by-id/usb-T-frog_project_T-frog_Driver-if00 __name:=ypspur_coordinator __log:=/home/marubashi/.ros/log/311b9ea4-b4a5-11e7-a453-a8137493dc16/ypspur_coordinator-3.log]. log file: /home/marubashi/.ros/log/311b9ea4-b4a5-11e7-a453-a8137493dc16/ypspur_coordinator-3*.log

[yasu80]

今から低レイヤハッキングになるのはNGなのですみませんが代機でいきましょう. 私のVostroと @dorayaki0903yamamoto のLavieなら動くはずです.

[yasu80]

xenial（Ubuntu16）系列4.9以降に存在するカーネルのFDTIドライバ周辺バグですが, Grubの Advanced setting for ubuntu から旧バージョンカーネルによる起動を試みることにより回避できます（ダウングレードやリインストールは必要ない）