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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
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TB3-Ros2 no response after Ubuntu 18.04.2 upgrade to latest patch. #431

Closed rafaelhuang-intel closed 5 years ago

rafaelhuang-intel commented 5 years ago

ISSUE TEMPLATE ver. 0.2.0

  1. Which TurtleBot3 you have?

    • Waffle & Waffle Pi

  2. Which SBC(Single Board Computer) is working on TurtleBot3?

    • Intel NUC (I7-6700)

  3. Which OS you installed in SBC?

    • Ubuntu 18.04 LTS (Bionic Beaver)

Below is execution steps:

  1. install Ubuntu 18.04.2 LTS (Bionic Beaver) (kernal 4.15.x or 4.18.x)
  2. sudo apt update
  3. sudo apt upgrade
  4. after all ubuntu patch updated, install all TB3 relate package, like TB3, Navigation2, Cartographer, etc.
  5. run TB3 and Cartographer SLAM (or navigation)

All data show on terminal:

intel@intel-desktop:~/turtlebot3$ cd ~/turtlebot3 && MicroXRCEAgent serial /dev/ttyACM0 Serial agent initialization... OK Enter 'q' for exit

cd ~/turtlebot3 && MicroXRCEAgent udp 2018 UDP agent initialization... OK Enter 'q' for exit RTPS Participant matched 1.f.59.93.f4.43.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.fe.43.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.fd.43.0.0.1.0.0.0|0.0.1.c1 RTPS Subscriber matched 1.f.59.93.fe.43.0.0.1.0.0.0|0.0.22.4 RTPS Participant matched 1.f.59.93.b.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.15.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.14.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.14.44.0.0.2.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.16.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.15.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.b.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.14.44.0.0.2.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.14.44.0.0.1.0.0.0|0.0.1.c1 RTPS Subscriber unmatched 1.f.59.93.fe.43.0.0.1.0.0.0|0.0.22.4 RTPS Participant unmatched 1.f.59.93.fd.43.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.fe.43.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.f4.43.0.0.1.0.0.0|0.0.1.c1

intel@intel-desktop:~$ ~/turtlebot3/turtlebot3_lidar turtlebot3 lidar client setup complete! 1 - Sent topic: 2.101000, range_max: 361 2 - Sent topic: 2.127000, range_max: 361 3 - Sent topic: 2.128000, range_max: 361 4 - Sent topic: 2.114000, range_max: 361 5 - Sent topic: 2.128000, range_max: 361 6 - Sent topic: 2.144000, range_max: 361 7 - Sent topic: 2.133000, range_max: 361 8 - Sent topic: 2.121000, range_max: 361 9 - Sent topic: 2.133000, range_max: 361 10 - Sent topic: 2.102000, range_max: 361 11 - Sent topic: 2.129000, range_max: 361 12 - Sent topic: 2.091000, range_max: 361 13 - Sent topic: 2.100000, range_max: 355 14 - Sent topic: 2.140000, range_max: 361 15 - Sent topic: 2.116000, range_max: 361 16 - Sent topic: 2.115000, range_max: 361 17 - Sent topic: 2.128000, range_max: 361 18 - Sent topic: 2.123000, range_max: 361 19 - Sent topic: 2.134000, range_max: 361 20 - Sent topic: 2.125000, range_max: 361 21 - Sent topic: 2.123000, range_max: 361 22 - Sent topic: 2.128000, range_max: 361 23 - Sent topic: 2.108000, range_max: 361 24 - Sent topic: 2.122000, range_max: 361 25 - Sent topic: 2.131000, range_max: 361 26 - Sent topic: 2.113000, range_max: 361 27 - Sent topic: 2.123000, range_max: 361 28 - Sent topic: 2.121000, range_max: 361 29 - Sent topic: 2.135000, range_max: 361 30 - Sent topic: 2.114000, range_max: 361 31 - Sent topic: 2.115000, range_max: 361 32 - Sent topic: 2.143000, range_max: 361 33 - Sent topic: 2.115000, range_max: 361 34 - Sent topic: 2.117000, range_max: 361 35 - Sent topic: 2.149000, range_max: 361 36 - Sent topic: 2.114000, range_max: 361 37 - Sent topic: 2.131000, range_max: 361 38 - Sent topic: 2.131000, range_max: 361 39 - Sent topic: 2.133000, range_max: 361 40 - Sent topic: 2.122000, range_max: 361

intel@intel-desktop:~$ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/intel/.ros/log/2019-05-27-01-26-36-848251-intel-desktop-17396 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf [INFO] [robot_state_publisher-1]: process started with pid [17405] [INFO] [turtlebot3_ros-2]: process started with pid [17406] [robot_state_publisher-1] Initialize urdf model from file: /opt/robot_sdk/device/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle.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 2 children [robot_state_publisher-1] Link camera_depth_frame had 1 children [robot_state_publisher-1] Link camera_depth_optical_frame had 0 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_depth_frame [robot_state_publisher-1] got segment camera_depth_optical_frame [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 [turtlebot3_ros-2] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main [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_depth_frame [robot_state_publisher-1] Adding fixed segment from camera_depth_frame to camera_depth_optical_frame [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

intel@intel-desktop:~$ ros2 launch turtlebot3_cartographer cartographer.launch.py [INFO] [launch]: All log files can be found below /home/intel/.ros/log/2019-05-27-01-26-39-625237-intel-desktop-17419 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [cartographer_node-1]: process started with pid [17428] [INFO] [occupancy_grid_node-2]: process started with pid [17429] [INFO] [rviz2-3]: process started with pid [17430] [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/opt/robot_sdk/device/turtlebot3_cartographer/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-1] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [cartographer_node-1] I0527 01:26:40.000000 17428 submap_2d.cc:187] Added submap 1 [cartographer_node-1] I0527 01:26:40.000000 17428 map_builder_bridge.cc:132] Added trajectory with ID '0'. [rviz2-3] [INFO] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [rviz2]: OpenGl version: 3 (GLSL 1.3) [rviz2-3] [WARN] [rviz2]: Could not find folder /opt/robot_sdk/core/rviz_rendering_tests/share/rviz_rendering_tests/ogre_media_resources/scripts [rviz2-3] [WARN] [rviz2]: Could not find folder /opt/robot_sdk/core/rviz_rendering_tests/share/rviz_rendering_tests/ogre_media_resources/meshes [rviz2-3] [INFO] [rviz2]: Stereo is NOT SUPPORTED [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty

BTW, if not upgrade all ubuntu patch (no run step3), this issue disappear. Does anyone met the same issue before, would you please share some experience about how to fix or debug?

robograffitti commented 5 years ago

No response of what ...?

rafaelhuang-intel commented 5 years ago

@yoshimalucky intel@intel-desktop:~/turtlebot3$ cd ~/turtlebot3 && MicroXRCEAgent serial /dev/ttyACM0 Serial agent initialization... OK Enter 'q' for exit no data output

cartographer no map show in rviz2, always output "[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty" in terminal.

OpusK commented 5 years ago

@rafaelhuang-intel

Currently, MicroXRCEAgent only supports Crystal Patch3 and below. If you use a later version, it may not work (perhaps this will cause an error already in the compilation process!)

Recently Dashing has been updated, Agent and Client are still working on it. (See eProsima's Repository.) If this work is preceded, ros2arduino which is used in TB3 will be updated, and it will be possible to test later in the latest version.

rafaelhuang-intel commented 5 years ago

@OpusK currently I used commit (TB3 version: 74ab7d57c7821053ccdad486f57d53f46dfc7b88, MicroXRCEAgent: version: a495c65faa964ddc068ac6e1249f17f5c9f92787) in my environment for build and test, if not upgrade all ubuntu patch (no run above step3), this issue disappear, so I think this issue may cause by Ubuntu patch conflict with MicroXRCEAgent.

OpusK commented 5 years ago

@rafaelhuang-intel

Thank you for the information. If this phenomenon is reproduced again, I will forward this issue to eProsima.

rafaelhuang-intel commented 5 years ago

@OpusK this issue still exist.

intel@intel-desktop:~$ uname -a Linux intel-desktop 4.18.0-21-generic #22~18.04.1-Ubuntu SMP Thu May 16 15:07:19 UTC 2019 x86_64 x86_64 x86_64 GNU/Linux intel@intel-desktop:~$ lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 18.04.2 LTS Release: 18.04 Codename: bionic

OpusK commented 5 years ago

Hi, @rafaelhuang-intel

The Agent is currently being updated. Can you tell me which version of ROS2 you are using? If you need to continue using the Crystal version, would you like to leave this issue on eProsima?

rafaelhuang-intel commented 5 years ago

Hi, @OpusK

I tested on ROS2 Dashing release now. I will report this issue to eProsima.

thanks !

OpusK commented 5 years ago

@rafaelhuang-intel

To test in Dashing, you must use the correct version of Agent, Client, and TB3 for Dashing. However, the opencr core f/w for Dashing and ROS2 packages are not released yet.

Just as you have already raised issues with eProsima, please test it with the crystal version (patch3) before release.

OpusK commented 5 years ago

@rafaelhuang-intel

Looking at your logs, the lidar client seems to work, and the Agent seems to work fine. Would you like to check if the ros2 topic echo /scan_half command displays the scan_half topic?

rafaelhuang-intel commented 5 years ago

@OpusK I think lidar work fine, but MicroXRCEAgent serial /dev/ttyACM0 no data. if not upgrade Ubuntu patch, more data can show in terminal.

rafaelhuang-intel commented 5 years ago

@OpusK As I checked again, the MicroXRCEAgent serial /dev/ttyACM0 still no data show in terminal, the ros2 topic echo /scan_half can get scan data, below are get log:

intel@intel-desktop:~$ ros2 topic echo /scan_half header: stamp: sec: 1560738401 nanosec: 475105849 frame_id: base_scan angle_min: 0.0 angle_max: 6.2657318115234375 angle_increment: 0.01745329238474369 time_increment: 2.9880000511184335e-05 scan_time: 0.0 range_min: 0.11999999731779099 range_max: 3.5 ranges: [0.20600000023841858, 0.20399999618530273, 0.21699999272823334, 0.21899999678134918, 0.2160000056028366, 0.21199999749660492, 0.210999995470047, 0.210999995470047, 0.21299999952316284, 0.2160000056028366, 0.22100000083446503, 0.2280000001192093, 0.24199999868869781, 0.0, 0.9049999713897705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8489999771118164, 0.0, 2.759000062942505, 0.0, 3.3359999656677246, 3.2190001010894775, 0.5809999704360962, 0.5740000009536743, 0.578000009059906, 0.628000020980835, 2.8929998874664307, 2.8450000286102295, 2.7960000038146973, 2.7279999256134033, 0.0, 1.684999942779541, 3.3519999980926514, 2.23799991607666, 2.359999895095825, 2.9639999866485596, 3.5369999408721924, 3.191999912261963, 2.634000062942505, 0.0, 0.0, 0.0, 3.117000102996826, 2.5199999809265137, 2.881999969482422, 3.2070000171661377, 0.0, 0.0, 3.1630001068115234, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.4189999103546143, 2.48799991607666, 0.0, 0.0, 0.0, 0.0, 0.796999990940094, 0.7350000143051147, 0.8059999942779541, 0.0, 3.5929999351501465, 0.0, 0.0, 0.0, 3.549999952316284, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0980000495910645, 1.8860000371932983, 1.1890000104904175, 1.1069999933242798, 0.7360000014305115, 0.7319999933242798, 0.7229999899864197, 0.7210000157356262, 0.7080000042915344, 0.7080000042915344, 0.7089999914169312, 0.7099999785423279, 0.7160000205039978, 0.718999981880188, 0.7200000286102295, 0.718999981880188, 0.7310000061988831, 0.7409999966621399, 0.7440000176429749, 0.75, 0.7630000114440918, 0.7680000066757202, 0.7839999794960022, 0.796999990940094, 0.7929999828338623, 0.796999990940094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4690000116825104, 0.5, 0.5070000290870667, 0.5220000147819519, 0.5379999876022339, 0.0, 0.6100000143051147, 0.6380000114440918, 0.6290000081062317, '...'] intensities: [0.0]

header: stamp: sec: 1560738401 nanosec: 678190407 frame_id: base_scan angle_min: 0.0 angle_max: 6.2657318115234375 angle_increment: 0.01745329238474369 time_increment: 2.990000029967632e-05 scan_time: 0.0 range_min: 0.11999999731779099 range_max: 3.5 ranges: [0.20600000023841858, 0.20399999618530273, 0.21699999272823334, 0.21899999678134918, 0.2160000056028366, 0.21199999749660492, 0.210999995470047, 0.210999995470047, 0.21299999952316284, 0.2150000035762787, 0.2199999988079071, 0.22699999809265137, 0.23999999463558197, 0.0, 0.949999988079071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8329999446868896, 0.0, 2.749000072479248, 0.0, 3.36299991607666, 3.243000030517578, 0.5849999785423279, 0.574999988079071, 0.5799999833106995, 0.593999981880188, 2.9049999713897705, 2.8550000190734863, 2.803999900817871, 2.743000030517578, 0.0, 1.753000020980835, 3.364000082015991, 2.2780001163482666, 2.3440001010894775, 2.9719998836517334, 3.309000015258789, 3.1710000038146973, 2.5910000801086426, 2.6059999465942383, 0.24500000476837158, 2.513000011444092, 3.1410000324249268, 2.5299999713897705, 2.6989998817443848, 3.2190001010894775, 0.0, 0.0, 3.1519999504089355, 0.0, 0.0, 3.140000104904175, 0.0, 0.0, 0.0, 2.4489998817443848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8109999895095825, 0.7789999842643738, 0.7699999809265137, 0.0, 3.5980000495910645, 0.0, 0.0, 0.0, 3.5490000247955322, 0.0, 0.0, 0.0, 0.0, 0.0, 4.166999816894531, 0.0, 4.015999794006348, 1.878000020980835, 1.1929999589920044, 1.1759999990463257, 0.7379999756813049, 0.7390000224113464, 0.7279999852180481, 0.7129999995231628, 0.7170000076293945, 0.7149999737739563, 0.7110000252723694, 0.7160000205039978, 0.7139999866485596, 0.7129999995231628, 0.7170000076293945, 0.7210000157356262, 0.7369999885559082, 0.7409999966621399, 0.7429999709129333, 0.7480000257492065, 0.7570000290870667, 0.7630000114440918, 0.7739999890327454, 0.7860000133514404, 0.7929999828338623, 0.8059999942779541, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46799999475479126, 0.5, 0.5059999823570251, 0.5210000276565552, 0.5299999713897705, 0.0, 0.6119999885559082, 0.6389999985694885, 0.6290000081062317, '...'] intensities: [0.0]

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OpusK commented 5 years ago

@rafaelhuang-intel

When you build Agent using cmake, try the options below and try Serial again. (For log check)

$ cmake -DTHIRDPARTY=ON -DCONFIG_UDP_TRANSPORT_MTU=4096-DCONFIG_SERIAL_TRANSPORT_MTU=4096 -DVERBOSE=ON ..
rafaelhuang-intel commented 5 years ago

@OpusK I tried again, the Serial still no data output. and the "MicroXRCEAgent udp 2018" popup mor warning log,

intel@intel-desktop:~/turtlebot3$ cd ~/turtlebot3 && MicroXRCEAgent udp 2018 UDP agent initialization... OK Enter 'q' for exit

<== [Client connected | session: 0x81 | client key: 0xCC 0xCC 0xDD 0xDD ] <== [Create XRCE object | client key: 0xCC 0xCC 0xDD 0xDD | id: 0x0011 | PARTICIPANT] <== [Create XRCE object | client key: 0xCC 0xCC 0xDD 0xDD | id: 0x0012 | TOPIC | participant id: 0x0011] <== [Create XRCE object | client key: 0xCC 0xCC 0xDD 0xDD | id: 0x0013 | PUBLISHER | participant id: 0x0011] <== [Create XRCE object | client key: 0xCC 0xCC 0xDD 0xDD | id: 0x0015 | DATA_WRITER | publisher id: 0x0013 | xml: 0x00000098] RTPS Participant matched 1.f.59.93.7a.2a.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.a1.3d.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.ab.3d.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.aa.3d.0.0.1.0.0.0|0.0.1.c1 RTPS Subscriber matched 1.f.59.93.ab.3d.0.0.1.0.0.0|0.0.22.4 RTPS Participant matched 1.f.59.93.85.50.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.f7.50.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.f7.50.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.f6.50.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.f6.50.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.f6.50.0.0.2.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.f8.50.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.f8.50.0.0.1.0.0.0|0.0.1.c1

OpusK commented 5 years ago

@rafaelhuang-intel

<== [Client connected | session: 0x81 | client key: 0xCC 0xCC 0xDD 0xDD ] <== [Create XRCE object | client key: 0xCC 0xCC 0xDD 0xDD | id: 0x0011 | PARTICIPANT] <== [Create XRCE object | client key: 0xCC 0xCC 0xDD 0xDD | id: 0x0012 | TOPIC | participant id: 0x0011] <== [Create XRCE object | client key: 0xCC 0xCC 0xDD 0xDD | id: 0x0013 | PUBLISHER | participant id: 0x0011] <== [Create XRCE object | client key: 0xCC 0xCC 0xDD 0xDD | id: 0x0015 | DATA_WRITER | publisher id: 0x0013 | xml: 0x00000098]

The above log should also appear in the Serial Agent. Can you tell me the order in which you ran the Serial Agent?

To explain again from my side, connect the OpenCR and check the OpenCR's dev name (eg. /dev/ttyACM0) before running the Serial Agent. (Including baud rate command)

For example,

# After reset OpenCR (Because of the nature of the Serial Port, this order is very important.)
$ ls /dev    # for check OpenCR dev name.
$ MicroXRCEAgent serial /dev/ttyACM0 1000000
rafaelhuang-intel commented 5 years ago

@OpusK 

Termina 1
$intel@intel-desktop:~/turtlebot3$ cd ~/turtlebot3 && MicroXRCEAgent serial /dev/ttyACM0
Termina 2
$intel@intel-desktop:$ cd ~/turtlebot3 && MicroXRCEAgent udp 2018
Termina 3
$intel@intel-desktop:~$ ~/turtlebot3/turtlebot3_lidar
Termina 4
$ ros2 launch turtlebot3_bringup robot.launch.py

all terminal have more log output except terminal 1

rafaelhuang-intel commented 5 years ago

@OpusK

after run $ ls /dev/ttyACM0 # for check OpenCR dev name, can detect device

intel@intel-desktop:~/turtlebot3$ ls -lha /dev/ttyACM0 crw-rw-rw- 1 root dialout 166, 0 Jun 17 12:01 /dev/ttyACM0

I tried another workable PC(not upgrade Ubuntu 18.04 all patch), the log are same.

OpusK commented 5 years ago

@rafaelhuang-intel

Is there any possibility of connecting other devices besides OpenCR? In addition, reset OpenCR and use the normal terminal program (eg screen) to see what data comes from OpenCR?

rafaelhuang-intel commented 5 years ago

@OpusK

so could you share your recommendation which device can double check besides OpenCR?

routiful commented 5 years ago

We opened new issue page to summary every issues related turtlebot3 ROS2 #460 I will comment about it later to check it.

routiful commented 5 years ago

For now on, we have been released TB3 ROS 2 Dashing! Please refer to emanual

This issue will be solved to download new firmware