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ROBOTIS-GIT / OpenCR

Software for ROS Embedded board (a.k.a. OpenCR). OpenCR means Open-source Control Module for ROS.
Apache License 2.0
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turtlebot3_waffle example code failed connection with devices #244

Closed fujimoto-shi closed 4 years ago

fujimoto-shi commented 4 years ago

I want to use a modified Turtlebot3 wheel with ROS2 dashing. The sketch of turtlebot3_waffle in the OpenCR example is I'm going to improve the base, but it doesn't work because of communication error. Sketch is Example -> Turtlebot3 ROS2 -> turtlebot3_waffle

When I run the turtlebot3_bringup on Raspberry pi and start the robot, it fails to communicate with OpenCR. ros2 launch turtlebot3_bringup robot.launch.py

If you follow the OpenCR setup procedure described in the Turtlebot3 tutorial, Dynamixel's motors work fine.

$ export OPENCR_PORT=/dev/ttyACM0 $ export OPENCR_MODEL=waffle $ cd ~/opencr_update && . /update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

The following is an error message.

/////////////////////////////////////////////// ros2 launch turtlebot3_bringup robot.launch.py /////////////////////////////////////////////// ubuntu@ubuntu:~/opencr_update$ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2020-06-12-09-30-44-> 697008-ubuntu-3716 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle_pi.urdf [INFO] [robot_state_publisher-1]: process started with pid [3726] [INFO] [hlds_laser_publisher-2]: process started with pid [3727] [INFO] [turtlebot3_ros-3]: process started with pid [3728] [robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link base_link had 7 children [robot_state_publisher-1] Link camera_link had 1 children [robot_state_publisher-1] Link camera_rgb_frame had 1 children [robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-1] Link caster_back_left_link had 0 children [robot_state_publisher-1] Link caster_back_right_link had 0 children [robot_state_publisher-1] Link imu_link had 0 children [robot_state_publisher-1] Link base_scan had 0 children [robot_state_publisher-1] Link wheel_left_link had 0 children [robot_state_publisher-1] Link wheel_right_link had 0 children [robot_state_publisher-1] got segment base_footprint [robot_state_publisher-1] got segment base_link [robot_state_publisher-1] got segment base_scan [robot_state_publisher-1] got segment camera_link [robot_state_publisher-1] got segment camera_rgb_frame [robot_state_publisher-1] got segment camera_rgb_optical_frame [robot_state_publisher-1] got segment caster_back_left_link [robot_state_publisher-1] got segment caster_back_right_link [robot_state_publisher-1] got segment imu_link [robot_state_publisher-1] got segment wheel_left_link [robot_state_publisher-1] got segment wheel_right_link [robot_state_publisher-1] Adding fixed segment from base_footprint to base_link [robot_state_publisher-1] Adding fixed segment from base_link to camera_link [robot_state_publisher-1] Adding fixed segment from camera_link to camera_rgb_frame [robot_state_publisher-1] Adding fixed segment from camera_rgb_frame to camera_rgb_optical_frame [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_left_link [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_right_link [robot_state_publisher-1] Adding fixed segment from base_link to imu_link [robot_state_publisher-1] Adding fixed segment from base_link to base_scan [robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link [robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [turtlebot3_ros-3] [ERROR] [turtlebot3_node]: Failed connection with Devices [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors [turtlebot3_ros-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [turtlebot3_ros-3] what(): could not create publisher: rcl node's context is invalid, at /tmp/binarydeb/ros-dashing-rcl-0.7.8/src/rcl/node.c:476 [ERROR] [turtlebot3_ros-3]: process has died [pid 3728, exit code -6, cmd '/home/ubuntu/turtlebot3_ws/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0 __params:=/home/ubuntu/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/waffle_pi.yaml']. `

fujimoto-shi commented 4 years ago

I solved the problem. When I changed the version of Dynamixel2Arduino to 2.1, It works. Thank you.