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OpenQuadruped / spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
https://moribots.github.io/project/spot-mini-mini
MIT License
800 stars 171 forks source link

roslaunch mini_ros spot_move.launch exit code 127 #21

Closed JonathanMortes closed 3 years ago

JonathanMortes commented 3 years ago

Describe the bug The launching of the node doesn't do anything

To Reproduce Steps to reproduce the behavior:

  1. Get everything ready (roscore, joy node) 2.roslaunch mini_ros spot_move.launch
  2. Nothing happens and the error pops out

Expected behavior Control robot in simulator with joystick controller

Screenshots jon@jon-noetic:~/catkin_ws$ roslaunch mini_ros spot_move.launch ... logging to /home/jon/.ros/log/4d0e42a6-cde7-11eb-8559-f11a37245d28/roslaunch-jon-noetic-17165.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jon-noetic:38909/

SUMMARY

PARAMETERS

NODES / spot_joy (joy/joy_node) spot_pybullet (mini_ros/spot_pybullet_interface) spot_sm (mini_ros/spot_sm) spot_teleop (mini_ros/teleop_node)

ROS_MASTER_URI=http://localhost:11311

process[spot_sm-1]: started with pid [17179] process[spot_joy-2]: started with pid [17180] [ INFO] [1623770031.194453852]: STARTING NODE: spot_mini State Machine process[spot_teleop-3]: started with pid [17181] process[spot_pybullet-4]: started with pid [17186] /usr/bin/env: ‘python’: No such file or directory [ INFO] [1623770031.203788747]: STARTING NODE: Teleoperation [spot_pybullet-4] process has died [pid 17186, exit code 127, cmd /home/jon/catkin_ws/src/spot_mini_mini/mini_ros/src/spot_pybullet_interface __name:=spot_pybullet __log:=/home/jon/.ros/log/4d0e42a6-cde7-11eb-8559-f11a37245d28/spot_pybullet-4.log]. log file: /home/jon/.ros/log/4d0e42a6-cde7-11eb-8559-f11a37245d28/spot_pybullet-4*.log [ WARN] [1623770031.228110980]: Couldn't set gain on joystick force feedback: Bad file descriptor

Desktop (please complete the following information):

JonathanMortes commented 3 years ago

Same happens with spot_real.launch:

on@jon-noetic:~/catkin_ws$ roslaunch mini_ros spot_real.launch ... logging to /home/jon/.ros/log/4d0e42a6-cde7-11eb-8559-f11a37245d28/roslaunch-jon-noetic-30900.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jon-noetic:36887/

SUMMARY

PARAMETERS

NODES / serial_node (rosserial_python/serial_node.py) spot_joy (joy/joy_node) spot_real (mini_ros/spot_real_interface) spot_sm (mini_ros/spot_sm) spot_teleop (mini_ros/teleop_node)

ROS_MASTER_URI=http://localhost:11311

process[spot_sm-1]: started with pid [30914] process[spot_joy-2]: started with pid [30915] [ INFO] [1623772430.923082346]: STARTING NODE: spot_mini State Machine process[spot_teleop-3]: started with pid [30916] [ INFO] [1623772430.930437359]: STARTING NODE: Teleoperation process[spot_real-4]: started with pid [30921] /usr/bin/env: ‘python’: No such file or directory process[serial_node-5]: started with pid [30927] [ERROR] [1623772430.943202662]: Couldn't open joystick /dev/input/js0. Will retry every second. [spot_real-4] process has died [pid 30921, exit code 127, cmd /home/jon/catkin_ws/src/mini_ros/src/spot_real_interface __name:=spot_real __log:=/home/jon/.ros/log/4d0e42a6-cde7-11eb-8559-f11a37245d28/spot_real-4.log]. log file: /home/jon/.ros/log/4d0e42a6-cde7-11eb-8559-f11a37245d28/spot_real-4*.log [ERROR] [1623772431.267400, 0.000000]: Error opening serial: [Errno 13] could not open port /dev/ttyS0: [Errno 13] Permission denied: '/dev/ttyS0' [ERROR] [1623772434.272595, 0.000000]: Error opening serial: [Errno 13] could not open port /dev/ttyS0: [Errno 13] Permission denied: '/dev/ttyS0' [ERROR] [1623772437.279337, 0.000000]: Error opening serial: [Errno 13] could not open port /dev/ttyS0: [Errno 13] Permission denied: '/dev/ttyS0' [ERROR] [1623772440.286008, 0.000000]: Error opening serial: [Errno 13] could not open port /dev/ttyS0: [Errno 13] Permission denied: '/dev/ttyS0' [ERROR] [1623772443.292706, 0.000000]: Error opening serial: [Errno 13] could not open port /dev/ttyS0: [Errno 13] Permission denied: '/dev/ttyS0' ^C[serial_node-5] killing on exit [spot_teleop-3] killing on exit [spot_sm-1] killing on exit [spot_joy-2] killing on exit Traceback (most recent call last): File "/usr/lib/python3/dist-packages/serial/serialposix.py", line 265, in open self.fd = os.open(self.portstr, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK) PermissionError: [Errno 13] Permission denied: '/dev/ttyS0'

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rosserial_python/SerialClient.py", line 374, in init self.port = Serial(port, baud, timeout=self.timeout, write_timeout=10) File "/usr/lib/python3/dist-packages/serial/serialutil.py", line 240, in init self.open() File "/usr/lib/python3/dist-packages/serial/serialposix.py", line 268, in open raise SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg)) serial.serialutil.SerialException: [Errno 13] could not open port /dev/ttyS0: [Errno 13] Permission denied: '/dev/ttyS0'

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/core.py", line 572, in signal_shutdown h() File "/opt/ros/noetic/lib/python3/dist-packages/rosserial_python/SerialClient.py", line 354, in shutdown self.txStopRequest() File "/opt/ros/noetic/lib/python3/dist-packages/rosserial_python/SerialClient.py", line 422, in txStopRequest self.port.flushInput() AttributeError: 'SerialClient' object has no attribute 'port' shutting down processing monitor... ... shutting down processing monitor complete done

JonathanMortes commented 3 years ago

Fixed it by changing first line to:

!/usr/bin/env python3