Open androiddrew opened 3 years ago
lunanueva
commented
1 year ago This is the file that I use and for me the tele_keyboard works well. You can test:
letter lowcarse i wheels go to forward ; wheels go to backward v or B ; stop the robot ( in my program K is not valid for me)
TeeThiti
commented
1 year ago I use re-thead.hex upload to st link. Can I control teleop keyboard node. Moving around: u i o j k l m , . k is stop?
and Where do you edit juvinski software in keil.
lunanueva
commented
1 year ago Int he directory of juvinsk software there is a file project.uvprojx in the path Robot-main/firmware/src/bsp/stm32103-atk-nano.
You should open this file using keil. and you can update the progtram and compile it again (if you want)
TeeThiti
commented
1 year ago yes I use that file (project.uvprojx in Robot-main/firmware/src/bsp/stm32103-atk-nano.) and I edit i2C1 to i2C2 and compile .hex file upload to stm32(use ST-Link Utility) , or upload re-thead.hex (juvinsk software) i found same problem.
I use moebius OS in rpi (Drive: https://drive.google.com/drive/folders/1FbEeWd4VyqahfnX3yiib85Xs_cBSabZK?fbclid=IwAR0RPngeVzWn4-t5y2myE4KUFmpsbMZ78AQmutiFTyUESfQLRLDOz_KQrys)
but i can't use node teleop_twict_keyboard. What should I do?
and What would you do to control this board?
Many thank for your assistance.
juvinski
commented
1 year ago Hi
mare you monitoring the topics related to velocities to check if is a problem in the teleopt + ros or in the firmware ?
lunanueva
commented
1 year ago I dont understand very well your question but i think is a firrware / software problem. The program uses Knimatic funtion to calculate PID velocity and if your motor are not well conneted (incorrect position etc, the enconder data is incorrect and every time the PID function asks for more velocity to get the level requered.
Enviado desde Correohttps://go.microsoft.com/fwlink/?LinkId=550986 para Windows
De: Vinicius @.> Enviado: miércoles, 28 de diciembre de 2022 14:24 Para: @.> CC: @.>; @.> Asunto: Re: [MoebiusTech/Stm32f103rct6] Some documentation like a getting started guide would be nice (#1)
Hi
mare you monitoring the topics related to velocities to check if is a problem in the teleopt + ros or in the firmware ?
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TeeThiti
commented
1 year ago I think so. It is software problem. but I new for stm and keil so I don't understand many things.
Would you suggest me some board for education this subject?
juvinski
commented
1 year ago Hello But are you 100% sure ros is working fine ? Publishing what must be published? Do you have any log when you start the bringup.launch file ?
lunanueva
commented
1 year ago Hello.
I think that you have a problem with encoder (bad connection or motor connect with other encoder) but it is imposible to know the exactly problem without see the robot.
Please find below the log when I run bringup.launch in ROS (raspberry)
[roslaunch][INFO] 2022-12-31 04:03:19,516: Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt [roslaunch][INFO] 2022-12-31 04:03:19,539: Done checking log file disk usage. Usage is <1GB. [roslaunch][INFO] 2022-12-31 04:03:19,540: roslaunch starting with args ['/opt/ros/kinetic/bin/roslaunch', 'mbsrobot', 'bringup.launch'] [roslaunch][INFO] 2022-12-31 04:03:19,542: roslaunch env is {'LC_NUMERIC': 'zh_CN.UTF-8', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '192.168.1.131', 'SSH_CLIENT': '192.168.1.71 53002 22', 'LOGNAME': 'mbsrobot', 'USER': 'mbsrobot', 'ROS_PACKAGE_PATH': '/home/mbsrobot/catkin_ws/src:/opt/ros/kinetic/share:/home/mbsrobot/catkin_ws/src', 'LC_PAPER': 'zh_CN.UTF-8', 'PATH': '/home/mbsrobot/bin:/home/mbsrobot/.local/bin:/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/mbsrobot/catkin_ws/devel:/opt/ros/kinetic', 'LD_LIBRARY_PATH': '/home/mbsrobot/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MONETARY': 'zh_CN.UTF-8', 'MBSBASE': 'mecanum', 'ROS_LOG_FILENAME': '/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/roslaunch-mbsrobot-1769.log', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'HOME': '/home/mbsrobot', 'XDG_RUNTIME_DIR': '/run/user/1000', 'MBSLIDAR': 'rplidar', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/mbsrobot/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_IP': '192.168.1.131', 'SHLVL': '1', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/mbsrobot/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'LC_ALL': 'en_US.UTF-8', 'XDG_SESSIONID': 'c3', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'SSH_CONNECTION': '192.168.1.71 53002 192.168.1.131 22', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GTK_MODULES': 'gail:atk-bridge', 'SSH_TTY': '/dev/pts/1', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/mbsrobot/catkin_ws/devel/share/common-lisp', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'PWD': '/home/mbsrobot', 'ROS_MASTER_URI': 'http://192.168.1.131:11311', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'MAIL': '/var/mail/mbsrobot', 'LC_TIME': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:'} [roslaunch][INFO] 2022-12-31 04:03:19,543: starting in server mode [roslaunch.parent][INFO] 2022-12-31 04:03:19,544: starting roslaunch parent run [roslaunch][INFO] 2022-12-31 04:03:19,547: loading roscore config file /opt/ros/kinetic/etc/ros/roscore.xml [roslaunch][INFO] 2022-12-31 04:03:24,269: Added core node of type [rosout/rosout] in namespace [/] [roslaunch.config][INFO] 2022-12-31 04:03:24,270: loading config file /home/mbsrobot/catkin_ws/src/mbsrobot_project/mbsrobot/launch/bringup.launch [roslaunch][INFO] 2022-12-31 04:03:24,425: Added node of type [rosserial_python/serial_node.py] in namespace [/] [roslaunch][INFO] 2022-12-31 04:03:25,307: Added node of type [imu_calib/apply_calib] in namespace [/] [roslaunch][INFO] 2022-12-31 04:03:25,313: Added node of type [imu_filter_madgwick/imu_filter_node] in namespace [/] [roslaunch][INFO] 2022-12-31 04:03:25,315: Added node of type [tf/static_transform_publisher] in namespace [/] [roslaunch][INFO] 2022-12-31 04:03:25,318: Added node of type [mbsrobot/mbs_base_node] in namespace [/] [roslaunch][INFO] 2022-12-31 04:03:25,320: Added node of type [tf/static_transform_publisher] in namespace [/] [roslaunch][INFO] 2022-12-31 04:03:25,427: Added node of type [robot_localization/ekf_localization_node] in namespace [/] [roslaunch][INFO] 2022-12-31 04:03:25,428: ... selected machine [] for node of type [rosserial_python/serial_node.py] [roslaunch][INFO] 2022-12-31 04:03:25,429: ... selected machine [] for node of type [imu_calib/apply_calib] [roslaunch][INFO] 2022-12-31 04:03:25,430: ... selected machine [] for node of type [imu_filter_madgwick/imu_filter_node] [roslaunch][INFO] 2022-12-31 04:03:25,431: ... selected machine [] for node of type [tf/static_transform_publisher] [roslaunch][INFO] 2022-12-31 04:03:25,432: ... selected machine [] for node of type [mbsrobot/mbs_base_node] [roslaunch][INFO] 2022-12-31 04:03:25,433: ... selected machine [] for node of type [tf/static_transform_publisher] [roslaunch][INFO] 2022-12-31 04:03:25,433: ... selected machine [] for node of type [robot_localization/ekf_localization_node] [roslaunch.pmon][INFO] 2022-12-31 04:03:25,448: start_process_monitor: creating ProcessMonitor [roslaunch.pmon][INFO] 2022-12-31 04:03:25,450: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)> [roslaunch.pmon][INFO] 2022-12-31 04:03:25,451: start_process_monitor: ProcessMonitor started [roslaunch.parent][INFO] 2022-12-31 04:03:25,452: starting parent XML-RPC server [roslaunch.server][INFO] 2022-12-31 04:03:25,453: starting roslaunch XML-RPC server [roslaunch.server][INFO] 2022-12-31 04:03:25,454: waiting for roslaunch XML-RPC server to initialize [xmlrpc][INFO] 2022-12-31 04:03:25,455: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2022-12-31 04:03:25,457: Started XML-RPC server [http://192.168.1.131:33707/] [xmlrpc][INFO] 2022-12-31 04:03:25,459: xml rpc node: starting XML-RPC server [roslaunch][INFO] 2022-12-31 04:03:25,474: started roslaunch server http://192.168.1.131:33707/ [roslaunch.parent][INFO] 2022-12-31 04:03:25,475: ... parent XML-RPC server started [roslaunch][INFO] 2022-12-31 04:03:25,480: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:25,484: auto-starting new master [roslaunch][INFO] 2022-12-31 04:03:25,485: create_master_process: rosmaster, /opt/ros/kinetic/share/ros, 11311, 3, None [roslaunch][INFO] 2022-12-31 04:03:25,486: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']] [roslaunch.pmon][INFO] 2022-12-31 04:03:25,487: ProcessMonitor.register[master] [roslaunch.pmon][INFO] 2022-12-31 04:03:25,488: ProcessMonitor.register[master] complete [roslaunch][INFO] 2022-12-31 04:03:25,489: process[master]: starting os process [roslaunch][INFO] 2022-12-31 04:03:25,490: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', 'log:=/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/master.log']] [roslaunch][INFO] 2022-12-31 04:03:25,490: process[master]: cwd will be [/home/mbsrobot/.ros] [roslaunch][INFO] 2022-12-31 04:03:25,508: process[master]: started with pid [1781] [roslaunch][INFO] 2022-12-31 04:03:25,510: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:25,614: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:25,717: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:25,820: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:25,923: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,026: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,129: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,232: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,335: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,438: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,541: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,644: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,748: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,851: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:26,954: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:27,057: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:27,160: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:27,264: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:27,366: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:27,376: master.is_running[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:27,385: ROS_MASTER_URI=http://192.168.1.131:11311 [roslaunch][INFO] 2022-12-31 04:03:27,395: setting /run_id to 0125d492-887d-11ed-b9bf-b827eb333ca4 [roslaunch][INFO] 2022-12-31 04:03:27,405: setting /roslaunch/uris/host_192_168_1_13133707' to http://192.168.1.131:33707/ [roslaunch][INFO] 2022-12-31 04:03:27,423: ... preparing to launch node of type [rosout/rosout] [roslaunch][INFO] 2022-12-31 04:03:27,424: create_node_process: package[rosout] type[rosout] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:27,426: process[rosout-1]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'ROS_DISTRO': 'kinetic', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '192.168.1.131', 'SSH_CLIENT': '192.168.1.71 53002 22', 'LOGNAME': 'mbsrobot', 'USER': 'mbsrobot', 'HOME': '/home/mbsrobot', 'LC_PAPER': 'zh_CN.UTF-8', 'PATH': '/home/mbsrobot/bin:/home/mbsrobot/.local/bin:/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/mbsrobot/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/roslaunch-mbsrobot-1769.log', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MONETARY': 'zh_CN.UTF-8', 'MBSBASE': 'mecanum', 'LD_LIBRARY_PATH': '/home/mbsrobot/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://192.168.1.131:11311', 'LC_ALL': 'en_US.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'MBSLIDAR': 'rplidar', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/mbsrobot/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/mbsrobot/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/mbsrobot/catkin_ws/src:/opt/ros/kinetic/share:/home/mbsrobot/catkin_ws/src', 'XDG_SESSIONID': 'c3', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GTK_MODULES': 'gail:atk-bridge', 'SSH_TTY': '/dev/pts/1', 'ROS_IP': '192.168.1.131', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/mbsrobot', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'MAIL': '/var/mail/mbsrobot', 'LC_TIME': 'zh_CN.UTF-8', 'SSH_CONNECTION': '192.168.1.71 53002 192.168.1.131 22', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/mbsrobot/catkin_ws/devel/share/common-lisp'}] [roslaunch][INFO] 2022-12-31 04:03:28,344: process[rosout-1]: args[[u'/opt/ros/kinetic/lib/rosout/rosout', u'name:=rosout']] [roslaunch][INFO] 2022-12-31 04:03:28,345: ... created process [rosout-1] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,347: ProcessMonitor.register[rosout-1] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,347: ProcessMonitor.register[rosout-1] complete [roslaunch][INFO] 2022-12-31 04:03:28,348: ... registered process [rosout-1] [roslaunch][INFO] 2022-12-31 04:03:28,349: process[rosout-1]: starting os process [roslaunch][INFO] 2022-12-31 04:03:28,350: process[rosout-1]: start w/ args [[u'/opt/ros/kinetic/lib/rosout/rosout', u'name:=rosout', u'log:=/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/rosout-1.log']] [roslaunch][INFO] 2022-12-31 04:03:28,351: process[rosout-1]: cwd will be [/home/mbsrobot/.ros] [roslaunch][INFO] 2022-12-31 04:03:28,372: process[rosout-1]: started with pid [1794] [roslaunch][INFO] 2022-12-31 04:03:28,373: ... successfully launched [rosout-1] [roslaunch][INFO] 2022-12-31 04:03:28,375: load_parameters starting ... [roslaunch][INFO] 2022-12-31 04:03:28,486: ... load_parameters complete [roslaunch][INFO] 2022-12-31 04:03:28,487: launch_nodes: launching local nodes ... [roslaunch][INFO] 2022-12-31 04:03:28,489: ... preparing to launch node of type [rosserial_python/serial_node.py] [roslaunch][INFO] 2022-12-31 04:03:28,490: create_node_process: package[rosserial_python] type[serial_node.py] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:28,492: process[arduino_serial_node-2]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'ROS_DISTRO': 'kinetic', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '192.168.1.131', 'SSH_CLIENT': '192.168.1.71 53002 22', 'LOGNAME': 'mbsrobot', 'USER': 'mbsrobot', 'HOME': '/home/mbsrobot', 'LC_PAPER': 'zh_CN.UTF-8', 'PATH': '/home/mbsrobot/bin:/home/mbsrobot/.local/bin:/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/mbsrobot/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/roslaunch-mbsrobot-1769.log', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MONETARY': 'zh_CN.UTF-8', 'MBSBASE': 'mecanum', 'LD_LIBRARY_PATH': '/home/mbsrobot/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://192.168.1.131:11311', 'LC_ALL': 'en_US.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'MBSLIDAR': 'rplidar', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/mbsrobot/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/mbsrobot/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/mbsrobot/catkin_ws/src:/opt/ros/kinetic/share:/home/mbsrobot/catkin_ws/src', 'XDG_SESSIONID': 'c3', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GTK_MODULES': 'gail:atk-bridge', 'SSH_TTY': '/dev/pts/1', 'ROS_IP': '192.168.1.131', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/mbsrobot', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'MAIL': '/var/mail/mbsrobot', 'LC_TIME': 'zh_CN.UTF-8', 'SSH_CONNECTION': '192.168.1.71 53002 192.168.1.131 22', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/mbsrobot/catkin_ws/devel/share/common-lisp'}] [roslaunch][INFO] 2022-12-31 04:03:28,506: process[arduino_serial_node-2]: args[[u'/opt/ros/kinetic/lib/rosserial_python/serial_node.py', u'name:=arduino_serial_node']] [roslaunch][INFO] 2022-12-31 04:03:28,508: ... created process [arduino_serial_node-2] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,509: ProcessMonitor.register[arduino_serial_node-2] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,509: ProcessMonitor.register[arduino_serial_node-2] complete [roslaunch][INFO] 2022-12-31 04:03:28,510: ... registered process [arduino_serial_node-2] [roslaunch][INFO] 2022-12-31 04:03:28,511: process[arduino_serial_node-2]: starting os process [roslaunch][INFO] 2022-12-31 04:03:28,512: process[arduino_serial_node-2]: start w/ args [[u'/opt/ros/kinetic/lib/rosserial_python/serial_node.py', u'name:=arduino_serial_node', u'log:=/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/arduino_serial_node-2.log']] [roslaunch][INFO] 2022-12-31 04:03:28,513: process[arduino_serial_node-2]: cwd will be [/home/mbsrobot/.ros] [roslaunch][INFO] 2022-12-31 04:03:28,530: process[arduino_serial_node-2]: started with pid [1797] [roslaunch][INFO] 2022-12-31 04:03:28,532: ... successfully launched [arduino_serial_node-2] [roslaunch][INFO] 2022-12-31 04:03:28,534: ... preparing to launch node of type [imu_calib/apply_calib] [roslaunch][INFO] 2022-12-31 04:03:28,535: create_node_process: package[imu_calib] type[apply_calib] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:28,537: process[apply_calib-3]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'ROS_DISTRO': 'kinetic', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '192.168.1.131', 'SSH_CLIENT': '192.168.1.71 53002 22', 'LOGNAME': 'mbsrobot', 'USER': 'mbsrobot', 'HOME': '/home/mbsrobot', 'LC_PAPER': 'zh_CN.UTF-8', 'PATH': '/home/mbsrobot/bin:/home/mbsrobot/.local/bin:/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/mbsrobot/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/roslaunch-mbsrobot-1769.log', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MONETARY': 'zh_CN.UTF-8', 'MBSBASE': 'mecanum', 'LD_LIBRARY_PATH': '/home/mbsrobot/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://192.168.1.131:11311', 'LC_ALL': 'en_US.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'MBSLIDAR': 'rplidar', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/mbsrobot/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/mbsrobot/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/mbsrobot/catkin_ws/src:/opt/ros/kinetic/share:/home/mbsrobot/catkin_ws/src', 'XDG_SESSIONID': 'c3', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GTK_MODULES': 'gail:atk-bridge', 'SSH_TTY': '/dev/pts/1', 'ROS_IP': '192.168.1.131', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/mbsrobot', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'MAIL': '/var/mail/mbsrobot', 'LC_TIME': 'zh_CN.UTF-8', 'SSH_CONNECTION': '192.168.1.71 53002 192.168.1.131 22', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/mbsrobot/catkin_ws/devel/share/common-lisp'}] [roslaunch][INFO] 2022-12-31 04:03:28,574: process[apply_calib-3]: args[[u'/home/mbsrobot/catkin_ws/devel/lib/imu_calib/apply_calib', u'name:=apply_calib']] [roslaunch][INFO] 2022-12-31 04:03:28,575: ... created process [apply_calib-3] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,576: ProcessMonitor.register[apply_calib-3] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,577: ProcessMonitor.register[apply_calib-3] complete [roslaunch][INFO] 2022-12-31 04:03:28,578: ... registered process [apply_calib-3] [roslaunch][INFO] 2022-12-31 04:03:28,579: process[apply_calib-3]: starting os process [roslaunch][INFO] 2022-12-31 04:03:28,580: process[apply_calib-3]: start w/ args [[u'/home/mbsrobot/catkin_ws/devel/lib/imu_calib/apply_calib', u'name:=apply_calib', u'log:=/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/apply_calib-3.log']] [roslaunch][INFO] 2022-12-31 04:03:28,581: process[apply_calib-3]: cwd will be [/home/mbsrobot/.ros] [roslaunch][INFO] 2022-12-31 04:03:28,609: process[apply_calib-3]: started with pid [1798] [roslaunch][INFO] 2022-12-31 04:03:28,611: ... successfully launched [apply_calib-3] [roslaunch][INFO] 2022-12-31 04:03:28,613: ... preparing to launch node of type [imu_filter_madgwick/imu_filter_node] [roslaunch][INFO] 2022-12-31 04:03:28,614: create_node_process: package[imu_filter_madgwick] type[imu_filter_node] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:28,616: process[imu_filter_madgwick-4]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'ROS_DISTRO': 'kinetic', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '192.168.1.131', 'SSH_CLIENT': '192.168.1.71 53002 22', 'LOGNAME': 'mbsrobot', 'USER': 'mbsrobot', 'HOME': '/home/mbsrobot', 'LC_PAPER': 'zh_CN.UTF-8', 'PATH': '/home/mbsrobot/bin:/home/mbsrobot/.local/bin:/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/mbsrobot/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/roslaunch-mbsrobot-1769.log', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MONETARY': 'zh_CN.UTF-8', 'MBSBASE': 'mecanum', 'LD_LIBRARY_PATH': '/home/mbsrobot/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://192.168.1.131:11311', 'LC_ALL': 'en_US.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'MBSLIDAR': 'rplidar', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/mbsrobot/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/mbsrobot/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/mbsrobot/catkin_ws/src:/opt/ros/kinetic/share:/home/mbsrobot/catkin_ws/src', 'XDG_SESSIONID': 'c3', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GTK_MODULES': 'gail:atk-bridge', 'SSH_TTY': '/dev/pts/1', 'ROS_IP': '192.168.1.131', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/mbsrobot', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'MAIL': '/var/mail/mbsrobot', 'LC_TIME': 'zh_CN.UTF-8', 'SSH_CONNECTION': '192.168.1.71 53002 192.168.1.131 22', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/mbsrobot/catkin_ws/devel/share/common-lisp'}] [roslaunch][INFO] 2022-12-31 04:03:28,699: process[imu_filter_madgwick-4]: args[[u'/home/mbsrobot/catkin_ws/devel/lib/imu_filter_madgwick/imu_filter_node', u'__name:=imu_filter_madgwick']] [roslaunch][INFO] 2022-12-31 04:03:28,700: ... created process [imu_filter_madgwick-4] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,702: ProcessMonitor.register[imu_filter_madgwick-4] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,702: ProcessMonitor.register[imu_filter_madgwick-4] complete [roslaunch][INFO] 2022-12-31 04:03:28,703: ... registered process [imu_filter_madgwick-4] [roslaunch][INFO] 2022-12-31 04:03:28,704: process[imu_filter_madgwick-4]: starting os process [roslaunch][INFO] 2022-12-31 04:03:28,705: process[imu_filter_madgwick-4]: start w/ args [[u'/home/mbsrobot/catkin_ws/devel/lib/imu_filter_madgwick/imu_filter_node', u'name:=imu_filter_madgwick', u'log:=/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/imu_filter_madgwick-4.log']] [roslaunch][INFO] 2022-12-31 04:03:28,706: process[imu_filter_madgwick-4]: cwd will be [/home/mbsrobot/.ros] [roslaunch][INFO] 2022-12-31 04:03:28,726: process[imu_filter_madgwick-4]: started with pid [1813] [roslaunch][INFO] 2022-12-31 04:03:28,727: ... successfully launched [imu_filter_madgwick-4] [roslaunch][INFO] 2022-12-31 04:03:28,729: ... preparing to launch node of type [tf/static_transform_publisher] [roslaunch][INFO] 2022-12-31 04:03:28,730: create_node_process: package[tf] type[static_transform_publisher] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:28,732: process[base_footprint_to_imu_link-5]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'ROS_DISTRO': 'kinetic', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '192.168.1.131', 'SSH_CLIENT': '192.168.1.71 53002 22', 'LOGNAME': 'mbsrobot', 'USER': 'mbsrobot', 'HOME': '/home/mbsrobot', 'LC_PAPER': 'zh_CN.UTF-8', 'PATH': '/home/mbsrobot/bin:/home/mbsrobot/.local/bin:/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/mbsrobot/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/roslaunch-mbsrobot-1769.log', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MONETARY': 'zh_CN.UTF-8', 'MBSBASE': 'mecanum', 'LD_LIBRARY_PATH': '/home/mbsrobot/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://192.168.1.131:11311', 'LC_ALL': 'en_US.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'MBSLIDAR': 'rplidar', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/mbsrobot/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/mbsrobot/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/mbsrobot/catkin_ws/src:/opt/ros/kinetic/share:/home/mbsrobot/catkin_ws/src', 'XDG_SESSIONID': 'c3', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GTK_MODULES': 'gail:atk-bridge', 'SSH_TTY': '/dev/pts/1', 'ROS_IP': '192.168.1.131', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/mbsrobot', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'MAIL': '/var/mail/mbsrobot', 'LC_TIME': 'zh_CN.UTF-8', 'SSH_CONNECTION': '192.168.1.71 53002 192.168.1.131 22', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/mbsrobot/catkin_ws/devel/share/common-lisp'}] [roslaunch][INFO] 2022-12-31 04:03:28,786: process[base_footprint_to_imu_link-5]: args[[u'/opt/ros/kinetic/lib/tf/static_transform_publisher', '0', '0', '0', '0', '0', '0', '/base_footprint', '/imu_link', '100', u'name:=base_footprint_to_imu_link']] [roslaunch][INFO] 2022-12-31 04:03:28,788: ... created process [base_footprint_to_imu_link-5] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,790: ProcessMonitor.register[base_footprint_to_imu_link-5] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,791: ProcessMonitor.register[base_footprint_to_imu_link-5] complete [roslaunch][INFO] 2022-12-31 04:03:28,792: ... registered process [base_footprint_to_imu_link-5] [roslaunch][INFO] 2022-12-31 04:03:28,793: process[base_footprint_to_imu_link-5]: starting os process [roslaunch][INFO] 2022-12-31 04:03:28,796: process[base_footprint_to_imu_link-5]: start w/ args [[u'/opt/ros/kinetic/lib/tf/static_transform_publisher', '0', '0', '0', '0', '0', '0', '/base_footprint', '/imu_link', '100', u'name:=base_footprint_to_imu_link', u'log:=/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/base_footprint_to_imu_link-5.log']] [roslaunch][INFO] 2022-12-31 04:03:28,797: process[base_footprint_to_imu_link-5]: cwd will be [/home/mbsrobot/.ros] [roslaunch][INFO] 2022-12-31 04:03:28,825: process[base_footprint_to_imu_link-5]: started with pid [1819] [roslaunch][INFO] 2022-12-31 04:03:28,827: ... successfully launched [base_footprint_to_imu_link-5] [roslaunch][INFO] 2022-12-31 04:03:28,829: ... preparing to launch node of type [mbsrobot/mbs_base_node] [roslaunch][INFO] 2022-12-31 04:03:28,830: create_node_process: package[mbsrobot] type[mbs_base_node] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:28,834: process[mbs_base_node-6]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'ROS_DISTRO': 'kinetic', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '192.168.1.131', 'SSH_CLIENT': '192.168.1.71 53002 22', 'LOGNAME': 'mbsrobot', 'USER': 'mbsrobot', 'HOME': '/home/mbsrobot', 'LC_PAPER': 'zh_CN.UTF-8', 'PATH': '/home/mbsrobot/bin:/home/mbsrobot/.local/bin:/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/mbsrobot/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/roslaunch-mbsrobot-1769.log', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MONETARY': 'zh_CN.UTF-8', 'MBSBASE': 'mecanum', 'LD_LIBRARY_PATH': '/home/mbsrobot/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://192.168.1.131:11311', 'LC_ALL': 'en_US.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'MBSLIDAR': 'rplidar', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/mbsrobot/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/mbsrobot/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/mbsrobot/catkin_ws/src:/opt/ros/kinetic/share:/home/mbsrobot/catkin_ws/src', 'XDG_SESSIONID': 'c3', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GTK_MODULES': 'gail:atk-bridge', 'SSH_TTY': '/dev/pts/1', 'ROS_IP': '192.168.1.131', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/mbsrobot', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'MAIL': '/var/mail/mbsrobot', 'LC_TIME': 'zh_CN.UTF-8', 'SSH_CONNECTION': '192.168.1.71 53002 192.168.1.131 22', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/mbsrobot/catkin_ws/devel/share/common-lisp'}] [roslaunch][INFO] 2022-12-31 04:03:28,888: process[mbs_base_node-6]: args[[u'/home/mbsrobot/catkin_ws/devel/lib/mbsrobot/mbs_base_node', u'name:=mbs_base_node']] [roslaunch][INFO] 2022-12-31 04:03:28,889: ... created process [mbs_base_node-6] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,891: ProcessMonitor.register[mbs_base_node-6] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,892: ProcessMonitor.register[mbs_base_node-6] complete [roslaunch][INFO] 2022-12-31 04:03:28,893: ... registered process [mbs_base_node-6] [roslaunch][INFO] 2022-12-31 04:03:28,894: process[mbs_base_node-6]: starting os process [roslaunch][INFO] 2022-12-31 04:03:28,896: process[mbs_base_node-6]: start w/ args [[u'/home/mbsrobot/catkin_ws/devel/lib/mbsrobot/mbs_base_node', u'name:=mbs_base_node', u'log:=/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/mbs_base_node-6.log']] [roslaunch][INFO] 2022-12-31 04:03:28,897: process[mbs_base_node-6]: cwd will be [/home/mbsrobot/.ros] [roslaunch][INFO] 2022-12-31 04:03:28,936: process[mbs_base_node-6]: started with pid [1826] [roslaunch][INFO] 2022-12-31 04:03:28,938: ... successfully launched [mbs_base_node-6] [roslaunch][INFO] 2022-12-31 04:03:28,940: ... preparing to launch node of type [tf/static_transform_publisher] [roslaunch][INFO] 2022-12-31 04:03:28,952: create_node_process: package[tf] type[static_transform_publisher] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:28,954: process[base_footprint_to_base_link-7]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'ROS_DISTRO': 'kinetic', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '192.168.1.131', 'SSH_CLIENT': '192.168.1.71 53002 22', 'LOGNAME': 'mbsrobot', 'USER': 'mbsrobot', 'HOME': '/home/mbsrobot', 'LC_PAPER': 'zh_CN.UTF-8', 'PATH': '/home/mbsrobot/bin:/home/mbsrobot/.local/bin:/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/mbsrobot/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/roslaunch-mbsrobot-1769.log', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MONETARY': 'zh_CN.UTF-8', 'MBSBASE': 'mecanum', 'LD_LIBRARY_PATH': '/home/mbsrobot/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://192.168.1.131:11311', 'LC_ALL': 'en_US.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'MBSLIDAR': 'rplidar', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/mbsrobot/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/mbsrobot/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/mbsrobot/catkin_ws/src:/opt/ros/kinetic/share:/home/mbsrobot/catkin_ws/src', 'XDG_SESSIONID': 'c3', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GTK_MODULES': 'gail:atk-bridge', 'SSH_TTY': '/dev/pts/1', 'ROS_IP': '192.168.1.131', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/mbsrobot', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'MAIL': '/var/mail/mbsrobot', 'LC_TIME': 'zh_CN.UTF-8', 'SSH_CONNECTION': '192.168.1.71 53002 192.168.1.131 22', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/mbsrobot/catkin_ws/devel/share/common-lisp'}] [roslaunch][INFO] 2022-12-31 04:03:28,976: process[base_footprint_to_base_link-7]: args[[u'/opt/ros/kinetic/lib/tf/static_transform_publisher', '0', '0', '0.098', '0', '0', '0', '/base_footprint', '/base_link', '100', u'name:=base_footprint_to_base_link']] [roslaunch][INFO] 2022-12-31 04:03:28,978: ... created process [base_footprint_to_base_link-7] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,979: ProcessMonitor.register[base_footprint_to_base_link-7] [roslaunch.pmon][INFO] 2022-12-31 04:03:28,988: ProcessMonitor.register[base_footprint_to_base_link-7] complete [roslaunch][INFO] 2022-12-31 04:03:28,989: ... registered process [base_footprint_to_base_link-7] [roslaunch][INFO] 2022-12-31 04:03:28,990: process[base_footprint_to_base_link-7]: starting os process [roslaunch][INFO] 2022-12-31 04:03:28,992: process[base_footprint_to_base_link-7]: start w/ args [[u'/opt/ros/kinetic/lib/tf/static_transform_publisher', '0', '0', '0.098', '0', '0', '0', '/base_footprint', '/base_link', '100', u'name:=base_footprint_to_base_link', u'log:=/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/base_footprint_to_base_link-7.log']] [roslaunch][INFO] 2022-12-31 04:03:28,993: process[base_footprint_to_base_link-7]: cwd will be [/home/mbsrobot/.ros] [roslaunch][INFO] 2022-12-31 04:03:29,022: process[base_footprint_to_base_link-7]: started with pid [1843] [roslaunch][INFO] 2022-12-31 04:03:29,029: ... successfully launched [base_footprint_to_base_link-7] [roslaunch][INFO] 2022-12-31 04:03:29,035: ... preparing to launch node of type [robot_localization/ekf_localization_node] [roslaunch][INFO] 2022-12-31 04:03:29,037: create_node_process: package[robot_localization] type[ekf_localization_node] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://192.168.1.131:11311] [roslaunch][INFO] 2022-12-31 04:03:29,039: process[ekf_localization-8]: env[{'LC_NUMERIC': 'zh_CN.UTF-8', 'ROS_DISTRO': 'kinetic', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '192.168.1.131', 'SSH_CLIENT': '192.168.1.71 53002 22', 'LOGNAME': 'mbsrobot', 'USER': 'mbsrobot', 'HOME': '/home/mbsrobot', 'LC_PAPER': 'zh_CN.UTF-8', 'PATH': '/home/mbsrobot/bin:/home/mbsrobot/.local/bin:/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'CMAKE_PREFIX_PATH': '/home/mbsrobot/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/roslaunch-mbsrobot-1769.log', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LANGUAGE': 'zh_CN:en_US:en', 'LC_MONETARY': 'zh_CN.UTF-8', 'MBSBASE': 'mecanum', 'LD_LIBRARY_PATH': '/home/mbsrobot/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://192.168.1.131:11311', 'LC_ALL': 'en_US.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'MBSLIDAR': 'rplidar', 'LC_ADDRESS': 'zh_CN.UTF-8', 'PYTHONPATH': '/home/mbsrobot/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/mbsrobot/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/mbsrobot/catkin_ws/src:/opt/ros/kinetic/share:/home/mbsrobot/catkin_ws/src', 'XDG_SESSIONID': 'c3', '': '/opt/ros/kinetic/bin/roslaunch', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.jpg=01;35:.jpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GTK_MODULES': 'gail:atk-bridge', 'SSH_TTY': '/dev/pts/1', 'ROS_IP': '192.168.1.131', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'PAPERSIZE': 'a4', 'SHLVL': '1', 'PWD': '/home/mbsrobot', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'LC_NAME': 'zh_CN.UTF-8', 'MAIL': '/var/mail/mbsrobot', 'LC_TIME': 'zh_CN.UTF-8', 'SSH_CONNECTION': '192.168.1.71 53002 192.168.1.131 22', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/mbsrobot/catkin_ws/devel/share/common-lisp'}] [roslaunch][INFO] 2022-12-31 04:03:29,092: process[ekf_localization-8]: args[[u'/home/mbsrobot/catkin_ws/devel/lib/robot_localization/ekf_localization_node', u'odometry/filtered:=odom', u'name:=ekf_localization']] [roslaunch][INFO] 2022-12-31 04:03:29,094: ... created process [ekf_localization-8] [roslaunch.pmon][INFO] 2022-12-31 04:03:29,097: ProcessMonitor.register[ekf_localization-8] [roslaunch.pmon][INFO] 2022-12-31 04:03:29,099: ProcessMonitor.register[ekf_localization-8] complete [roslaunch][INFO] 2022-12-31 04:03:29,100: ... registered process [ekf_localization-8] [roslaunch][INFO] 2022-12-31 04:03:29,106: process[ekf_localization-8]: starting os process [roslaunch][INFO] 2022-12-31 04:03:29,109: process[ekf_localization-8]: start w/ args [[u'/home/mbsrobot/catkin_ws/devel/lib/robot_localization/ekf_localization_node', u'odometry/filtered:=odom', u'name:=ekf_localization', u'__log:=/home/mbsrobot/.ros/log/0125d492-887d-11ed-b9bf-b827eb333ca4/ekf_localization-8.log']] [roslaunch][INFO] 2022-12-31 04:03:29,110: process[ekf_localization-8]: cwd will be [/home/mbsrobot/.ros] [roslaunch][INFO] 2022-12-31 04:03:29,137: process[ekf_localization-8]: started with pid [1862] [roslaunch][INFO] 2022-12-31 04:03:29,140: ... successfully launched [ekf_localization-8] [roslaunch][INFO] 2022-12-31 04:03:29,141: ... launch_nodes complete [roslaunch.pmon][INFO] 2022-12-31 04:03:29,143: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 1981547632)> [roslaunch.parent][INFO] 2022-12-31 04:03:29,144: ... roslaunch parent running, waiting for process exit [roslaunch][INFO] 2022-12-31 04:03:29,145: spin [roslaunch.pmon][INFO] 2022-12-31 04:03:39,311: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon 1981547632)> [roslaunch.pmon][INFO] 2022-12-31 04:03:39,323: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 1981547632)> [roslaunch.pmon][INFO] 2022-12-31 04:03:39,325: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 1981547632)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0x76221cf0>, <roslaunch.nodeprocess.LocalProcess object at 0x763e2bb0>, <roslaunch.nodeprocess.LocalProcess object at 0x76221750>, <roslaunch.nodeprocess.LocalProcess object at 0x763ef730>, <roslaunch.nodeprocess.LocalProcess object at 0x76221fd0>, <roslaunch.nodeprocess.LocalProcess object at 0x7642d7d0>, <roslaunch.nodeprocess.LocalProcess object at 0x76221f30>, <roslaunch.nodeprocess.LocalProcess object at 0x763befb0>, <roslaunch.nodeprocess.LocalProcess object at 0x762575d0>] [roslaunch.pmon][INFO] 2022-12-31 04:03:39,327: ProcessMonitor exit: killing ekf_localization-8 [roslaunch.pmon][INFO] 2022-12-31 04:03:39,329: ProcessMonitor exit: killing base_footprint_to_base_link-7 [roslaunch][INFO] 2022-12-31 04:03:39,330: [ekf_localization-8] killing on exit [roslaunch][INFO] 2022-12-31 04:03:39,331: [base_footprint_to_base_link-7] killing on exit [roslaunch][INFO] 2022-12-31 04:03:39,334: process[base_footprint_to_base_link-7]: killing os process with pid[1843] pgid[1843] [roslaunch][INFO] 2022-12-31 04:03:39,334: process[ekf_localization-8]: killing os process with pid[1862] pgid[1862] [roslaunch][INFO] 2022-12-31 04:03:39,335: [base_footprint_to_base_link-7] sending SIGINT to pgid [1843] [roslaunch.pmon][INFO] 2022-12-31 04:03:39,336: ProcessMonitor exit: killing mbs_base_node-6 [roslaunch.pmon][INFO] 2022-12-31 04:03:39,337: ProcessMonitor exit: killing base_footprint_to_imu_link-5 [roslaunch][INFO] 2022-12-31 04:03:39,348: [base_footprint_to_imu_link-5] killing on exit [roslaunch][INFO] 2022-12-31 04:03:39,349: process[base_footprint_to_imu_link-5]: killing os process with pid[1819] pgid[1819] [roslaunch.pmon][INFO] 2022-12-31 04:03:39,341: ProcessMonitor exit: killing arduino_serial_node-2 [roslaunch][INFO] 2022-12-31 04:03:39,344: [ekf_localization-8] sending SIGINT to pgid [1862] [roslaunch][INFO] 2022-12-31 04:03:39,346: [base_footprint_to_base_link-7] sent SIGINT to pgid [1843] [roslaunch][INFO] 2022-12-31 04:03:39,347: [mbs_base_node-6] killing on exit [roslaunch][INFO] 2022-12-31 04:03:39,350: [base_footprint_to_imu_link-5] sending SIGINT to pgid [1819] [roslaunch.pmon][INFO] 2022-12-31 04:03:39,338: ProcessMonitor exit: killing imu_filter_madgwick-4 [roslaunch][INFO] 2022-12-31 04:03:39,356: [imu_filter_madgwick-4] killing on exit [roslaunch][INFO] 2022-12-31 04:03:39,357: process[imu_filter_madgwick-4]: killing os process with pid[1813] pgid[1813] [roslaunch][INFO] 2022-12-31 04:03:39,352: [ekf_localization-8] sent SIGINT to pgid [1862] [roslaunch][INFO] 2022-12-31 04:03:39,354: process[mbs_base_node-6]: killing os process with pid[1826] pgid[1826] [roslaunch][INFO] 2022-12-31 04:03:39,355: [base_footprint_to_imu_link-5] sent SIGINT to pgid [1819] [roslaunch][INFO] 2022-12-31 04:03:39,351: [arduino_serial_node-2] killing on exit [roslaunch][INFO] 2022-12-31 04:03:39,358: [imu_filter_madgwick-4] sending SIGINT to pgid [1813] [roslaunch][INFO] 2022-12-31 04:03:39,364: [imu_filter_madgwick-4] sent SIGINT to pgid [1813] [roslaunch][INFO] 2022-12-31 04:03:39,360: [mbs_base_node-6] sending SIGINT to pgid [1826] [roslaunch.pmon][INFO] 2022-12-31 04:03:39,339: ProcessMonitor exit: killing apply_calib-3 [roslaunch][INFO] 2022-12-31 04:03:39,365: process[arduino_serial_node-2]: killing os process with pid[1797] pgid[1797] [roslaunch][INFO] 2022-12-31 04:03:39,366: [mbs_base_node-6] sent SIGINT to pgid [1826] [roslaunch][INFO] 2022-12-31 04:03:39,367: [apply_calib-3] killing on exit [roslaunch][INFO] 2022-12-31 04:03:39,370: process[apply_calib-3]: killing os process with pid[1798] pgid[1798] [roslaunch][INFO] 2022-12-31 04:03:39,368: [arduino_serial_node-2] sending SIGINT to pgid [1797] [roslaunch][INFO] 2022-12-31 04:03:39,372: [apply_calib-3] sending SIGINT to pgid [1798] [roslaunch][INFO] 2022-12-31 04:03:39,392: [apply_calib-3] sent SIGINT to pgid [1798] [roslaunch][INFO] 2022-12-31 04:03:39,375: [arduino_serial_node-2] sent SIGINT to pgid [1797] [roslaunch][INFO] 2022-12-31 04:03:39,854: process[base_footprint_to_base_link-7]: SIGINT killed with return value 0 [roslaunch][INFO] 2022-12-31 04:03:39,863: process[base_footprint_to_imu_link-5]: SIGINT killed with return value 0 [roslaunch][INFO] 2022-12-31 04:03:39,967: process[imu_filter_madgwick-4]: SIGINT killed with return value 0 [roslaunch][INFO] 2022-12-31 04:03:39,971: process[mbs_base_node-6]: SIGINT killed with return value 0 [roslaunch][INFO] 2022-12-31 04:03:39,995: process[apply_calib-3]: SIGINT killed with return value 0 [roslaunch][INFO] 2022-12-31 04:03:40,066: process[ekf_localization-8]: SIGINT killed with return value 0 [roslaunch][INFO] 2022-12-31 04:03:40,198: process[arduino_serial_node-2]: SIGINT killed with return value 0 [roslaunch.pmon][INFO] 2022-12-31 04:03:40,199: ProcessMonitor exit: killing rosout-1 [roslaunch][INFO] 2022-12-31 04:03:40,200: [rosout-1] killing on exit [roslaunch][INFO] 2022-12-31 04:03:40,201: process[rosout-1]: killing os process with pid[1794] pgid[1794] [roslaunch][INFO] 2022-12-31 04:03:40,202: [rosout-1] sending SIGINT to pgid [1794] [roslaunch][INFO] 2022-12-31 04:03:40,203: [rosout-1] sent SIGINT to pgid [1794] [roslaunch][INFO] 2022-12-31 04:03:40,505: process[rosout-1]: SIGINT killed with return value 0 [roslaunch.pmon][INFO] 2022-12-31 04:03:40,506: ProcessMonitor exit: killing master [roslaunch][INFO] 2022-12-31 04:03:40,507: [master] killing on exit [roslaunch][INFO] 2022-12-31 04:03:40,507: process[master]: killing os process with pid[1781] pgid[1781] [roslaunch][INFO] 2022-12-31 04:03:40,508: [master] sending SIGINT to pgid [1781] [roslaunch][INFO] 2022-12-31 04:03:40,509: [master] sent SIGINT to pgid [1781] [roslaunch][INFO] 2022-12-31 04:03:40,810: process[master]: SIGINT killed with return value 0 [roslaunch.pmon][INFO] 2022-12-31 04:03:40,811: ProcessMonitor exit: cleaning up data structures and signals [roslaunch.pmon][INFO] 2022-12-31 04:03:40,812: ProcessMonitor exit: pmon has shutdown [roslaunch][INFO] 2022-12-31 04:03:40,847: process monitor is done spinning, initiating full shutdown [roslaunch][INFO] 2022-12-31 04:03:40,848: runner.stop() [roslaunch][INFO] 2022-12-31 04:03:40,848: shutting down processing monitor... [roslaunch][INFO] 2022-12-31 04:03:40,849: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 1981547632)> [roslaunch.pmon][INFO] 2022-12-31 04:03:40,850: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 1981547632)> [roslaunch][INFO] 2022-12-31 04:03:40,850: ... shutting down processing monitor complete [roslaunch][INFO] 2022-12-31 04:03:40,851: done [roslaunch.pmon][INFO] 2022-12-31 04:03:40,852: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 1981547632)> [rospy.core][INFO] 2022-12-31 04:03:40,853: signal_shutdown [atexit]
Enviado desde Correohttps://go.microsoft.com/fwlink/?LinkId=550986 para Windows
De: Vinicius @.> Enviado: jueves, 29 de diciembre de 2022 16:06 Para: @.> CC: @.>; @.> Asunto: Re: [MoebiusTech/Stm32f103rct6] Some documentation like a getting started guide would be nice (#1)
Hello But are you 100% sure ros is working fine ? Publishing what must be published? Do you have any log when you start the bringup.launch file ?
- Reply to this email directly, view it on GitHubhttps://github.com/MoebiusTech/Stm32f103rct6/issues/1#issuecomment-1367395923, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AGTUGL4KZFP26I2FTZOELP3WPWSH7ANCNFSM4S333FSA. You are receiving this because you commented.Message ID: @.***>
ROM-robotics
commented
10 months ago we have ros 2 humble version for it.
lunanueva
commented
10 months ago Thanks. Where has it been published ?
Moiks92
commented
10 months ago Hi, where i can found the zip mbsrobot_setup??
Moiks92
commented
10 months ago hi for everyone, im form to Mexico and my english is not very good, i need a little help about how i can flash the moebius stm32 card because it shows a warming with the imu and i can't move the robot or see the data... please help me!
lunanueva
commented
10 months ago HI Moiks92. I answer to you in spanish language, I think it is easier for both.
Debes descargar el software de la web : https://github.com/MoebiusTech/ROS_STM32 Usar Keil uVision 5 modificar el puerto para IMU. debe ser el 2. En el fichero config. es un programa de pago pero hay una version gratis para prueba. En la version original del software viene que el IMU esta en el puerto 1 y esta mal.
En el programa, el menu en la opcion Project, con opcion build target genera una nueva version del software
Conecta la tarjeta Moebius al ordenador y desde el programa keil Uvision5 puedes flasear (copiar) el programa a la tarjeta
juvinski publico un software que ya habia realizado los cambios que te menciono pero siempre tendras que flasear el nuevo software a la tarheta
Ya vera que ahora los datos del IMU son correctos.
Moiks92
commented
9 months ago Muchas gracias lunanueva, estamos en la parte de modificar el projecto del moebius para agregar las carpetas que modificó juvinski, esperamos que pueda leer la IMU
WalterHynson
commented
1 month ago I just recently purchased the MoebiusTech Stm32f103rct6 board from aliexpress for my omni wheel frame(same brand). I am looking for documentation on getting started with this board and at least a README.md here would be a nice addition..
The stm32f103rct6 board that I have has an onboard CH340 chip which allows it to talk to the Arduino IDE without using one of the plugboard adapters ,now here is what I know , I have experimented with many of the STM32 boards some from China and some discovery units and all I do is #1 board has CH340 open arduino IDE write some code to bliink Leds ,make motors move ,or move a servo arm( as an example ) now Yes I am a retired engineering tech so I understand circuits and I have learned enough C ++ or Arduino to fumble my way to sucess ,oh yea you must search and read and read some more untill you are sucessful ,just keep trying and it will work . Case 2 board has no CH340 so I have to use RX/TX to the first UART, and set up tools menu in Arduino so it will talk to CUBE ide ,Then I write some code ,hit upload and wait while the magic works (now this time it failed ) so search online find and example and copy or adapt sucess (1 additional message) I am retired and was never trained to think C++ or arduino or STM32 however the new generation is so I enlist the help of some neighborhood kids and wow they are so glad to help and solve problems in ways I have never thought of .
lunanueva
commented
1 month ago Hi
You can search in Google "moebius tech" and there are several packages in Github.
I usually use Stm32IDE to program the board. It is necessary to have knowledge of the C language.
I never use Arduino software to program the boadr. I think is more complicate.
The board would has CH340 interdaces because you can use with arduino progra, but I use STM32CubeProgram to flash the board using USB port as UART
De: WalterHynson @.> Enviado: Wednesday, May 15, 2024 5:10:45 AM Para: MoebiusTech/Stm32f103rct6 @.> Cc: lunanueva @.>; Comment @.> Asunto: Re: [MoebiusTech/Stm32f103rct6] Some documentation like a getting started guide would be nice (#1)
I just recently purchased the MoebiusTech Stm32f103rct6 board from aliexpress for my omni wheel frame(same brand). I am looking for documentation on getting started with this board and at least a README.md here would be a nice addition..
The stm32f103rct6 board that I have has an onboard CH340 chip which allows it to talk to the Arduino IDE without using one of the plugboard adapters ,now here is what I know , I have experimented with many of the STM32 boards some from China and some discovery units and all I do is #1https://github.com/MoebiusTech/Stm32f103rct6/issues/1 board has CH340 open arduino IDE write some code to bliink Leds ,make motors move ,or move a servo arm( as an example ) now Yes I am a retired engineering tech so I understand circuits and I have learned enough C ++ or Arduino to fumble my way to sucess ,oh yea you must search and read and read some more untill you are sucessful ,just keep trying and it will work . Case 2 board has no CH340 so I have to use RX/TX and set up tools menu in Arduino so it will talk to CUBE ide ,Then I write some code ,hit upload and wait while the magic works (now this time it failed ) so search online find and example and copy or adapt sucess (1 additional message) I am retired and was never trained to think C++ or arduino or STM32 however the new generation is so I enlist the help of some neighborhood kids and wow they are so glad to help and solve problems in ways I have never thought of .
— Reply to this email directly, view it on GitHubhttps://github.com/MoebiusTech/Stm32f103rct6/issues/1#issuecomment-2111498679, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AGTUGL7K5OIGORMATXNKBYTZCLG3LAVCNFSM4S333FSKU5DIOJSWCZC7NNSXTN2JONZXKZKDN5WW2ZLOOQ5TEMJRGE2DSOBWG44Q. You are receiving this because you commented.Message ID: @.***>
I just recently purchased the MoebiusTech Stm32f103rct6 board from aliexpress for my omni wheel frame(same brand). I am looking for documentation on getting started with this board and at least a README.md here would be a nice addition..