rafaelhuang-intel commented 5 years ago

ISSUE TEMPLATE ver. 0.2.0

Which TurtleBot3 you have?
- Waffle
Which SBC(Single Board Computer) is working on TurtleBot3?
- NUC6i7KYK
Which OS you installed in SBC?
- Ubuntu 18.04 LTS (Bionic Beaver)
- ROS2 Dashing
Which OS you installed in Remote PC?
- Ubuntu 18.04 LTS (Bionic Beaver)
- ROS2 Dashing
Write down software version and firmware version
- Firmware version: V190730R1

after follow http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#ros2 to build TB3 for ROS2 dashing release, build fail at SBC setup (15.1.2) of Micro-XRCE-DDS-Agent Install Fail, fail log attached at below.

tb3_for_dashing_build_fail.txt

rafaelhuang-intel commented 5 years ago

https://github.com/ROBOTIS-GIT/turtlebot3/issues/460

OpusK commented 5 years ago

Hi, @rafaelhuang-intel

This issue is probably caused by a conflict with the previous agent. You can see this issue below and manually delete the existing agent's library file.

How to uninstall Agent and Client

rafaelhuang-intel commented 5 years ago

Hi, @OpusK

I've build a clean environment and test it.

First round is ok after build successful, but second round is fail while use 'ps | grep "MicroXRCEAgent"' command for checking process ID and kill it. and check topic list we can see lost more.

Terminal 1 intel@intel-desktop:~/tb3_sbc_settings$ cd ~/tb3_sbc_settings && ./run.sh

######################################################################## Run two Agent and one Client for LDS & OpenCR ######################################################################## nohup: appending output to 'nohup.out' nohup: ignoring input and appending output to 'nohup.out' nohup: ignoring input and appending output to 'nohup.out'

Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. Please refer to the note below to check its execution status or to terminate it.

========== NOTE ========== This script uses the nohup command to run multiple processes in the background. Therefore, to terminate these processes, use the kill command like below

use 'ps | grep "MicroXRCEAgent"' command for checking process ID kill [PID number]

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

intel@intel-desktop:~/tb3_sbc_settings$ ps | grep "MicroXRCEAgent" intel@intel-desktop:~/tb3_sbc_settings$ ^C intel@intel-desktop:~/tb3_sbc_settings$ ^C intel@intel-desktop:~/tb3_sbc_settings$ ^C intel@intel-desktop:~/tb3_sbc_settings$ ^C intel@intel-desktop:~/tb3_sbc_settings$ ps | grep "MicroXRCEAgent" intel@intel-desktop:~/tb3_sbc_settings$ cd ~/tb3_sbc_settings && ./run.sh

######################################################################## Run two Agent and one Client for LDS & OpenCR ######################################################################## nohup: nohup: ignoring input and appending output to 'nohup.out' appending output to 'nohup.out' nohup: ignoring input and appending output to 'nohup.out'

Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. Please refer to the note below to check its execution status or to terminate it.

========== NOTE ========== This script uses the nohup command to run multiple processes in the background. Therefore, to terminate these processes, use the kill command like below

use 'ps | grep "MicroXRCEAgent"' command for checking process ID kill [PID number]

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

intel@intel-desktop:~/tb3_sbc_settings$ ps | grep "MicroXRCEAgent" intel@intel-desktop:~/tb3_sbc_settings$ ps | grep "MicroXRCEAgent"

Terminal2 intel@intel-desktop:~$ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/intel/.ros/log/2019-08-06-10-43-34-936513-intel-desktop-27910 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf [INFO] [robot_state_publisher-1]: process started with pid [27921] [INFO] [turtlebot3_ros-2]: process started with pid [27922] [robot_state_publisher-1] Initialize urdf model from file: /home/intel/turtlebot3_ws/install/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 [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

Terminal3 /imu /initialpose /joint_states /move_base_simple/goal /odom /parameter_events /robot_description /rosout /sensor_state /tf /tf_static /time_sync

OpusK commented 5 years ago

@rafaelhuang-intel

use 'ps | grep "MicroXRCEAgent"' command for checking process ID kill [PID number]

You must check the process ID (PID) with ps and kill the process with the kill command. Oh, and after killing the process, don't forget to reset OpenCR.

rafaelhuang-intel commented 5 years ago

@OpusK

I tried reboot system & reset OpenCR, and than run launch command again, but still no PID output.

intel@intel-desktop:~/tb3_sbc_settings$ cd ~/tb3_sbc_settings && ./run.sh

######################################################################## Run two Agent and one Client for LDS & OpenCR ######################################################################## nohup: appending output to 'nohup.out' nohup: ignoring input and appending output to 'nohup.out' nohup: ignoring input and appending output to 'nohup.out'

Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. Please refer to the note below to check its execution status or to terminate it.

========== NOTE ========== This script uses the nohup command to run multiple processes in the background. Therefore, to terminate these processes, use the kill command like below

use 'ps | grep "MicroXRCEAgent"' command for checking process ID kill [PID number]

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

intel@intel-desktop:~/tb3_sbc_settings$ ps | grep "MicroXRCEAgent" intel@intel-desktop:~/tb3_sbc_settings$ ps | grep "MicroXRCEAgent" intel@intel-desktop:~/tb3_sbc_settings$

OpusK commented 5 years ago

@rafaelhuang-intel

Except for the grep command, can you retry using only theps command?

rafaelhuang-intel commented 5 years ago

@OpusK

Except for the grep command, and only run the ps command., no PID display. run lsusb can see the device already connected.

intel@intel-desktop:~/tb3_sbc_settings$ cd ~/tb3_sbc_settings && ./run.sh

######################################################################## Run two Agent and one Client for LDS & OpenCR ######################################################################## nohup: appending output to 'nohup.out' nohup: ignoring input and appending output to 'nohup.out' nohup: ignoring input and appending output to 'nohup.out'

Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. Please refer to the note below to check its execution status or to terminate it.

========== NOTE ========== This script uses the nohup command to run multiple processes in the background. Therefore, to terminate these processes, use the kill command like below

use 'ps | grep "MicroXRCEAgent"' command for checking process ID kill [PID number]

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

intel@intel-desktop:~/tb3_sbc_settings$ ps PID TTY TIME CMD 28487 pts/0 00:00:00 bash 29019 pts/0 00:00:00 ps intel@intel-desktop:~/tb3_sbc_settings$ lsusb Bus 002 Device 005: ID 05e3:0617 Genesys Logic, Inc. Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 003: ID 8087:0a2b Intel Corp. Bus 001 Device 020: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light Bus 001 Device 021: ID 0483:5740 STMicroelectronics STM32F407 Bus 001 Device 018: ID 05e3:0610 Genesys Logic, Inc. 4-port hub Bus 001 Device 005: ID 413c:3012 Dell Computer Corp. Optical Wheel Mouse Bus 001 Device 004: ID 413c:2112 Dell Computer Corp. Bus 001 Device 002: ID 14cd:8601 Super Top Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub intel@intel-desktop:~/tb3_sbc_settings$

OpusK commented 5 years ago

@rafaelhuang-intel

What operating system does your development environment use on x86? This seems to be an issue between nohup, ps, and the OS. (It works fine in Raspbian.)

I recommend you to run the commands in the run.sh file separately from each terminal.

Terminal 1 (After reset OpenCR)

$ cd ~/tb3_sbc_settings
$ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 1000000 -r tb3_fastrtps_profile.refs -v 5

Terminal 2

$ cd ~/tb3_sbc_settings
$ MicroXRCEAgent udp -p 2019 -r tb3_fastrtps_profile.refs -v 5

Terminal 3

$ cd ~/tb3_sbc_settings
$ ./turtlebot3_lidar_xrce_client

rafaelhuang-intel commented 5 years ago

@OpusK I installed Ubuntu 18.04 on Intel NUC(i7-6700HQ)

after run above 3 command, all fail and display libfastrtps.so.1 missing.

Terminal 1 (After reset OpenCR) intel@intel-desktop:~/tb3_sbc_settings$ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 1000000 -r tb3_fastrtps_profile.refs -v 5 MicroXRCEAgent: error while loading shared libraries: libfastrtps.so.1: cannot open shared object file: No such file or directory

Terminal 2 intel@intel-desktop:~/tb3_sbc_settings$ MicroXRCEAgent udp -p 2019 -r tb3_fastrtps_profile.refs -v 5 MicroXRCEAgent: error while loading shared libraries: libfastrtps.so.1: cannot open shared object file: No such file or directory

Terminal 3 intel@intel-desktop:~/tb3_sbc_settings$ ./turtlebot3_lidar_xrce_client Error at create session.

OpusK commented 5 years ago

@rafaelhuang-intel

intel@intel-desktop

Are you using NUC instead of TB3's Raspberry Pi?

MicroXRCEAgent: error while loading shared libraries: libfastrtps.so.1: cannot open shared object file: No such file or directory

It looks like the MicroXRCEAgent is not installed properly. You need to verify that the agent is installed correctly.

rafaelhuang-intel commented 5 years ago

@OpusK

yes, using NUC instead of TB3's Raspberry Pi.

I tried first round workable, and follow e-manual (http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#setup) to run 15.2 ~15.3 are workable. and than, I kill PID and want to try run 15.4 (cartographer), I meet above issue. so you means I need re-install 15.1.2(SBC setup) again?

ksd2201 commented 5 years ago

@OpusK hi i have same problem(install fail MicroXRCE) you said this problem will occured relate with old MicroXRCE version but i just install new RaspbianOS on claer SDcard. and i don't understand this link https://github.com/eProsima/Micro-XRCE-DDS-Agent/issues/95 can you explain detail usage? thanks

rafaelhuang-intel commented 5 years ago

@OpusK

after re-install SBC setup, build issue exist, so can you explain detail usage of https://github.com/eProsima/Micro-XRCE-DDS-Agent/issues/95 ?

/usr/bin/ld: /usr/local/lib/libmicroxrcedds_client.a(session.c.o): relocation R_X86_64_PC32 against symbol `uxr_flash_output_streams' can not be used when making a shared object; recompile with -fPIC /usr/bin/ld: final link failed: Bad value collect2: error: ld returned 1 exit status CMakeFiles/microxrcedds_agent.dir/build.make:1010: recipe for target 'libmicroxrcedds_agent.so.1.1.0' failed make[5]: [libmicroxrcedds_agent.so.1.1.0] Error 1 CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/microxrcedds_agent.dir/all' failed make[4]: [CMakeFiles/microxrcedds_agent.dir/all] Error 2 Makefile:129: recipe for target 'all' failed make[3]: [all] Error 2 CMakeFiles/uagent.dir/build.make:112: recipe for target 'uagent-prefix/src/uagent-stamp/uagent-build' failed make[2]: [uagent-prefix/src/uagent-stamp/uagent-build] Error 2 CMakeFiles/Makefile2:68: recipe for target 'CMakeFiles/uagent.dir/all' failed make[1]: [CMakeFiles/uagent.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: [all] Error 2

[Fail] Micro-XRCE-DDS-Agent Install Fail

OpusK commented 5 years ago

@ksd2201, @rafaelhuang-intel

I don't want to recommend eProsima/Micro-XRCE-DDS-Agent#95's way. This is because you need to link the library folder every time.

but i just install new RaspbianOS on claer SDcard.

@ksd2201, This is a phenomenon I have never seen. It is a good idea to raise an issue with eProsima because this is a problem with the Agent installation.

@rafaelhuang-intel, What files did you delete to remove Agent's previous installation library?

rafaelhuang-intel commented 5 years ago

@OpusK

only remove tb3_sbc_settings folder and unzip tar package again, so could tell me how many library need remove?

OpusK commented 5 years ago

@rafaelhuang-intel

tb3_sbc_settings folder is not a library of Micro XRCE-DDS! TB3 only uses Micro XRCE-DDS and does not manage it. You do not need to delete the tb3_sbc_settings folder. This is a problem only with Agent. You must delete all library files in the root directory.

Delete the library files that contain the word microxrcedds with the command below. (only for client and agent)

$ sudo find / -name "*microxrcedds*"

The reason why installation/uninstallation is complicated is that eProsima's products do not yet support a simple method and they will be updated later.

rafaelhuang-intel commented 5 years ago

@OpusK

The command of your provide not search any one, so I changed command to "sudo find / -name "microxrcedds"", and than all relate file are list in terminal, could you help to check if all file need delete?

intel@intel-desktop:~$ sudo find / -name "microxrcedds" find: ‘/proc/1842/task/1842/net’: Invalid argument find: ‘/proc/1842/net’: Invalid argument /home/intel/tb3_sbc_settings/Micro-XRCE-DDS-Agent/build/CMakeFiles/microxrcedds_agent.dir /home/intel/tb3_sbc_settings/Micro-XRCE-DDS-Agent/build/CMakeFiles/Export/share/microxrcedds_agent /home/intel/tb3_sbc_settings/Micro-XRCE-DDS-Agent/build/CMakeFiles/Export/share/microxrcedds_agent/cmake/microxrcedds_agentTargets.cmake /home/intel/tb3_sbc_settings/Micro-XRCE-DDS-Agent/build/CMakeFiles/Export/share/microxrcedds_agent/cmake/microxrcedds_agentTargets-release.cmake /home/intel/tb3_sbc_settings/Micro-XRCE-DDS-Agent/build/cmake/config/microxrcedds_agentConfig.cmake /home/intel/tb3_sbc_settings/Micro-XRCE-DDS-Agent/build/cmake/config/microxrcedds_agentConfigVersion.cmake /usr/local/lib/libmicroxrcedds_agent.so.1 /usr/local/lib/libmicroxrcedds_client.a /usr/local/lib/libmicroxrcedds_agent.so /usr/local/lib/libmicroxrcedds_client.so.1.1.0 /usr/local/lib/libmicroxrcedds_client.so /usr/local/lib/libmicroxrcedds_agent.so.1.1.0 /usr/local/share/microxrcedds_agent /usr/local/share/microxrcedds_agent/cmake/microxrcedds_agentConfig.cmake /usr/local/share/microxrcedds_agent/cmake/microxrcedds_agentTargets.cmake /usr/local/share/microxrcedds_agent/cmake/microxrcedds_agentTargets-release.cmake /usr/local/share/microxrcedds_client /usr/local/share/microxrcedds_client/cmake/microxrcedds_clientConfigVersion.cmake /usr/local/share/microxrcedds_client/cmake/microxrcedds_clientTargets-release.cmake /usr/local/share/microxrcedds_client/cmake/microxrcedds_clientTargets.cmake /usr/local/share/microxrcedds_client/cmake/microxrcedds_clientConfig.cmake find: ‘/run/user/1000/gvfs’: Permission denied

OpusK commented 5 years ago

@rafaelhuang-intel

The command of your provide not search any one, so I changed command to "sudo find / -name "microxrcedds"",

Oh sorry. I missed the option.

I think deleting the files below will solve it.

/usr/local/lib/libmicroxrcedds_agent.so.1
/usr/local/lib/libmicroxrcedds_client.a
/usr/local/lib/libmicroxrcedds_agent.so
/usr/local/lib/libmicroxrcedds_client.so.1.1.0
/usr/local/lib/libmicroxrcedds_client.so
/usr/local/lib/libmicroxrcedds_agent.so.1.1.0
/usr/local/share/microxrcedds_agent
/usr/local/share/microxrcedds_client

rafaelhuang-intel commented 5 years ago

@OpusK

after delete all library files and re-build again, it's workable.

I tried (http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#setup)15.2 + 15.3, it's ok, but tried 15.2+15.4, cartographer cannot build map and popup error message "[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty", could you meet same problem?

intel@intel-desktop:~/tb3_sbc_settings$ ros2 launch turtlebot3_cartographer cartographer.launch.py [INFO] [launch]: All log files can be found below /home/intel/.ros/log/2019-08-07-10-55-21-703317-intel-desktop-17899 [INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [cartographer_node-1]: process started with pid [17909] [INFO] [occupancy_grid_node-2]: process started with pid [17910] [INFO] [rviz2-3]: process started with pid [17911] [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/turtlebot3_cartographer/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-1] I0807 10:55:22.000000 17909 configuration_file_resolver.cc:41] Found '/home/intel/turtlebot3_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] I0807 10:55:22.000000 17909 submap_2d.cc:187] Added submap 1 [cartographer_node-1] I0807 10:55:22.000000 17909 map_builder_bridge.cc:132] Added trajectory with ID '0'. [cartographer_node-1] F0807 10:55:22.519484 17909 msg_conversion.cc:126] Check failed: msg.intensities.size() == msg.ranges.size() (1 vs. 360) [cartographer_node-1] F0807 10:55:22.000000 17909 msg_conversion.cc:126] Check failed: msg.intensities.size() == msg.ranges.size() (1 vs. 360) [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [cartographer_node-1] Check failure stack trace: [cartographer_node-1] @ 0x7f3d7e5a40cd google::LogMessage::Fail() [cartographer_node-1] @ 0x7f3d7e5a5f33 google::LogMessage::SendToLog() [cartographer_node-1] @ 0x7f3d7e5a3c28 google::LogMessage::Flush() [cartographer_node-1] @ 0x7f3d7e5a6999 google::LogMessageFatal::~LogMessageFatal() [cartographer_node-1] @ 0x5603b624a011 (unknown) [cartographer_node-1] @ 0x5603b624a12d (unknown) [cartographer_node-1] @ 0x5603b623b2aa (unknown) [cartographer_node-1] @ 0x5603b61f775c (unknown) [cartographer_node-1] @ 0x5603b61f8721 (unknown) [cartographer_node-1] @ 0x5603b622d9f4 (unknown) [cartographer_node-1] @ 0x5603b622dc11 (unknown) [cartographer_node-1] @ 0x7f3d7f954adf rclcpp::executor::Executor::execute_subscription() [cartographer_node-1] @ 0x7f3d7f955b25 rclcpp::executor::Executor::execute_any_executable() [cartographer_node-1] @ 0x7f3d7f95bf2f rclcpp::executors::SingleThreadedExecutor::spin() [cartographer_node-1] @ 0x7f3d7f958c32 rclcpp::spin() [cartographer_node-1] @ 0x7f3d7f958eeb rclcpp::spin() [cartographer_node-1] @ 0x5603b61eee87 (unknown) [cartographer_node-1] @ 0x7f3d7c5dcb97 libc_start_main [cartographer_node-1] @ 0x5603b61f097a (unknown) [ERROR] [cartographer_node-1]: process has died [pid 17909, exit code -6, cmd '/home/intel/turtlebot3_ws/install/cartographer_ros/lib/cartographer_ros/cartographer_node -configuration_directory /home/intel/turtlebot3_ws/install/turtlebot3_cartographer/share/turtlebot3_cartographer/config -configuration_basename turtlebot3_lds_2d.lua __node:=cartographer_node params:=/tmp/launch_params_6uq_0bke']. [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

OpusK commented 5 years ago

@rafaelhuang-intel

The issue with packages seems to take time, as mentioned in #460. Thank you for your patience.

mkhansenbot commented 5 years ago

@OpusK @rafaelhuang-intel - this error being thrown by cartographer is causing it to crash:

msg.intensities.size() == msg.ranges.size() (1 vs. 360)

We've seen this also and it is a bug in the turtlebot3_lidar publisher. It isn't declaring the topic.intensities_size for the intensities data to be = 360. Changing that fixed the issue for us.

Since it's inside the tb3_sbc_settings.tar.bz2 tar file, I can't submit a PR with the fix, but the line of code I changed was in turtlebot3_lidar/main.cpp:

topic.intensities_size = 360;

That fixes the problem for us.

rafaelhuang-intel commented 5 years ago

@OpusK

I've build a new pure environment and follow (http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#ros2) to setup TB3, but I meet a problem of TB3 launch.

when I run script "./run.sh", I meet core dump (see below log)

intel@intel-desktop:~/tb3_sbc_settings$ ./run.sh

######################################################################## Run two Agent and one Client for LDS & OpenCR ######################################################################## nohup: nohup: appending output to 'nohup.out'ignoring input and appending output to 'nohup.out'

nohup: ignoring input and appending output to 'nohup.out' ./run.sh: line 13: 3425 Aborted (core dumped) nohup ./turtlebot3_lidar_xrce_client

Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. Please refer to the note below to check its execution status or to terminate it.

========== NOTE ========== This script uses the nohup command to run multiple processes in the background. Therefore, to terminate these processes, use the kill command like below

use 'ps | grep "MicroXRCEAgent"' command for checking process ID kill [PID number]

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

intel@intel-desktop:~/tb3_sbc_settings$ ps | grep "MicroXRCEAgent" 3416 pts/0 00:00:11 MicroXRCEAgent 3417 pts/0 00:00:11 MicroXRCEAgent

and than, I tried split launch command to debug (see below log)

T1 intel@intel-desktop:~/tb3_sbc_settings$ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 1000000 -r tb3_fastrtps_profile.refs -v 5 Enter 'q' for exit

T3 intel@intel-desktop:~/tb3_sbc_settings$ ./turtlebot3_lidar_xrce_client terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector >' what(): open: Permission denied Aborted (core dumped)

meet core dump in T3 to launch tb3 lidar, so I tried use root permission to launch, it's workable. intel@intel-desktop:~/tb3_sbc_settings$ sudo ./turtlebot3_lidar_xrce_client [sudo] password for intel: turtlebot3 lidar client setup complete!

and next , I launch teleop and tb3 rviz, and press "w/x/a/d" on keyboard, I can see the path will move and show in Rviz, but real TB3 no response.

T4 intel@intel-desktop:~/tb3_sbc_settings$ ros2 run turtlebot3_teleop teleop_keyboard

Control Your TurtleBot3!

Moving around: w a s d x

T5 intel@intel-desktop:~/tb3_sbc_settings$ ros2 launch turtlebot3_bringup rviz2.launch.py [INFO] [launch]: All log files can be found below /home/intel/.ros/log/2019-08-20-11-49-25-183187-intel-desktop-17519 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [17529] [rviz2-1] [ERROR] [rviz2]: "odom" passed to lookupTransform argument target_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: "base_scan" passed to lookupTransform argument source_frame does not exist. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees. [rviz2-1] [ERROR] [rviz2]: Could not find a connection between 'odom' and 'base_scan' because they are not part of the same tree.Tf has two or more unconnected trees.

routiful commented 5 years ago

@rafaelhuang-intel base_scan tf issue was occured from tf message filter. You can check following issues (1), (2), (3) It might be solved near future.

rafaelhuang-intel commented 5 years ago

@routiful

base_scan only show in Terminal 5. in my side, the first priority is TB3 launch problem,

intel@intel-desktop:~/tb3_sbc_settings$ ./run.sh

######################################################################## Run two Agent and one Client for LDS & OpenCR ######################################################################## nohup: nohup: appending output to 'nohup.out'ignoring input and appending output to 'nohup.out'

nohup: ignoring input and appending output to 'nohup.out' ./run.sh: line 13: 3425 Aborted (core dumped) nohup ./turtlebot3_lidar_xrce_client

Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. Please refer to the note below to check its execution status or to terminate it.

========== NOTE ========== This script uses the nohup command to run multiple processes in the background. Therefore, to terminate these processes, use the kill command like below

use 'ps | grep "MicroXRCEAgent"' command for checking process ID kill [PID number]

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed. intel@intel-desktop:~/tb3_sbc_settings$ ps | grep "MicroXRCEAgent" 3416 pts/0 00:00:11 MicroXRCEAgent 3417 pts/0 00:00:11 MicroXRCEAgent

and than, I tried split launch command to debug (see below log)

T1 intel@intel-desktop:~/tb3_sbc_settings$ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 1000000 -r tb3_fastrtps_profile.refs -v 5 Enter 'q' for exit

T3 intel@intel-desktop:~/tb3_sbc_settings$ ./turtlebot3_lidar_xrce_client terminate called after throwing an instance of 'boost::exception_detail::clone_impl' what(): open: Permission denied Aborted (core dumped)

meet core dump in T3 to launch tb3 lidar, so I tried use root permission to launch, it's workable. intel@intel-desktop:~/tb3_sbc_settings$ sudo ./turtlebot3_lidar_xrce_client [sudo] password for intel: turtlebot3 lidar client setup complete!

and next , I launch teleop and tb3 rviz, and press "w/x/a/d" on keyboard, I can see the path will move and show in Rviz, but real TB3 no response (cannot move).

routiful commented 5 years ago

@rafaelhuang-intel

TurtleBot3 ROS 2 Dashing version was released :)

Please refer to this link and emanual

Please attempt to upload new firmware. If you have any question or further issue, please reopen this or get a new ticket :)

ROBOTIS-GIT / turtlebot3

TB3 build fail at SBC setup (15.1.2) of Micro-XRCE-DDS-Agent Install Fail #461

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.

Control Your TurtleBot3!