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ChrisTimperley / TurtleBot.Dockerfile

Provides a Dockerfile for TurtleBot (to be run on hardware), built on top of ROS Indigo
MIT License
5 stars 3 forks source link

Dockerfile not working on Archlinux : impossible to connect to the kobuki robot #3

Open Xia0ben opened 6 years ago

Xia0ben commented 6 years ago

Hi, First, I would like to thank you for your work here. Bringing ROS to Docker is no easy task, so kudos for trying !

I tried to use your Docker image as provided on your docker repository by launching the following command, while I have a Turtlebot2 with a Kobuki base attached to my Archlinux computer through USB :

sudo docker run --rm \
           --privileged \
           -v /sys/fs/cgroup:/sys/fs/cgroup:ro \
           -v /dev/kobuki:/dev/kobuki \
           -v /dev/serial:/dev/serial \
           -v /dev/bus/usb:/dev/bus/usb \
           -it \
           christimperley/turtlebot:binary\
           /bin/bash

This runs the container fine but it still had to execute:

rosdep init
rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source /root/.bashrc

In order to get autocomplete to work fine. Then I tried to run: roslaunch turtlebot_bringup minimal.launch But I got in the return message:

...
process[mobile_base_nodelet_manager-3]: started with pid [494]
process[mobile_base-4]: started with pid [570]
[ERROR] [1526655835.380669933]: Kobuki : initialisation failed [/mobile_base].
[ERROR] [1526655835.380717310]: Kobuki : could not initialise! Please restart.
process[cmd_vel_mux-5]: started with pid [591]
...

It seems that the robot has trouble connecting with the container, is there anything I might be missing ?

Thank you for your attention,

Xia0ben.

Full message below:

... logging to /root/.ros/log/76cad804-5aac-11e8-8701-0242ac110002/roslaunch-2b9c55f96b85-444.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://2b9c55f96b85:43611/

SUMMARY
========

PARAMETERS
 * /app_manager/auto_rapp_installation: False
 * /app_manager/auto_start_rapp: 
 * /app_manager/capability_server_name: capability_server
 * /app_manager/local_remote_controllers_only: False
 * /app_manager/preferred: [{'rocon_apps/chi...
 * /app_manager/rapp_package_blacklist: []
 * /app_manager/rapp_package_whitelist: ['rocon_apps', 't...
 * /app_manager/robot_icon: turtlebot_bringup...
 * /app_manager/robot_name: turtlebot
 * /app_manager/robot_type: turtlebot
 * /app_manager/screen: True
 * /app_manager/simulation: False
 * /app_manager/use_gateway_uuids: False
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /capability_server/blacklist: ['std_capabilitie...
 * /capability_server/defaults/kobuki_capabilities/KobukiBringup: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiBumper: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiCliffDetection: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiLED1: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiLED2: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiLED: kobuki_capabiliti...
 * /capability_server/defaults/kobuki_capabilities/KobukiWheelDropDetection: kobuki_capabiliti...
 * /capability_server/defaults/std_capabilities/Diagnostics: turtlebot_capabil...
 * /capability_server/defaults/std_capabilities/DifferentialMobileBase: kobuki_capabiliti...
 * /capability_server/defaults/std_capabilities/LaserSensor: turtlebot_capabil...
 * /capability_server/defaults/std_capabilities/RGBDSensor: turtlebot_capabil...
 * /capability_server/defaults/std_capabilities/RobotStatePublisher: turtlebot_capabil...
 * /capability_server/defaults/turtlebot_capabilities/TurtleBotBringup: turtlebot_capabil...
 * /capability_server/nodelet_manager_name: capability_server...
 * /capability_server/package_whitelist: ['kobuki_capabili...
 * /cmd_vel_mux/yaml_cfg_file: /opt/ros/indigo/s...
 * /description: Kick-ass ROS turtle
 * /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
 * /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
 * /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
 * /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
 * /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
 * /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
 * /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
 * /diagnostic_aggregator/analyzers/power/path: Power System
 * /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/power/timeout: 5.0
 * /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
 * /diagnostic_aggregator/analyzers/sensors/path: Sensors
 * /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
 * /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /icon: turtlebot_bringup...
 * /interactions/interactions: ['turtlebot_bring...
 * /interactions/pairing: True
 * /interactions/rosbridge_address: localhost
 * /interactions/rosbridge_port: 9090
 * /interactions/webserver_address: webapp.robotconce...
 * /mobile_base/base_frame: base_footprint
 * /mobile_base/battery_capacity: 16.5
 * /mobile_base/battery_dangerous: 13.2
 * /mobile_base/battery_low: 14.0
 * /mobile_base/cmd_vel_timeout: 0.6
 * /mobile_base/device_port: /dev/kobuki
 * /mobile_base/odom_frame: odom
 * /mobile_base/publish_tf: True
 * /mobile_base/use_imu_heading: True
 * /mobile_base/wheel_left_joint_name: wheel_left_joint
 * /mobile_base/wheel_right_joint_name: wheel_right_joint
 * /name: turtlebot
 * /robot/name: turtlebot
 * /robot/type: turtlebot
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 5.0
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /turtlebot_laptop_battery/acpi_path: /sys/class/power_...
 * /use_sim_time: False
 * /zeroconf/zeroconf/services: [{'domain': 'loca...

NODES
  /zeroconf/
    zeroconf (zeroconf_avahi/zeroconf)
  /
    app_manager (rocon_app_manager/rapp_manager.py)
    bumper2pointcloud (nodelet/nodelet)
    capability_server (capabilities/capability_server)
    cmd_vel_mux (nodelet/nodelet)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    interactions (rocon_interactions/interactions_manager.py)
    master (rocon_master_info/master.py)
    mobile_base (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[robot_state_publisher-1]: started with pid [465]
process[diagnostic_aggregator-2]: started with pid [466]
process[mobile_base_nodelet_manager-3]: started with pid [494]
process[mobile_base-4]: started with pid [570]
[ERROR] [1526655835.380669933]: Kobuki : initialisation failed [/mobile_base].
[ERROR] [1526655835.380717310]: Kobuki : could not initialise! Please restart.
process[cmd_vel_mux-5]: started with pid [591]
process[bumper2pointcloud-6]: started with pid [719]
process[turtlebot_laptop_battery-7]: started with pid [781]
process[capability_server-8]: started with pid [823]
process[app_manager-9]: started with pid [840]
process[master-10]: started with pid [875]
process[interactions-11]: started with pid [889]
process[zeroconf/zeroconf-12]: started with pid [969]
[ INFO] [1526655838.769980559]: Zeroconf: service successfully established [turtlebot][_ros-master._tcp][11311]