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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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Lidar stops spinning on callind roslaunch turtlebot3_bringup turtlebot3_robot.launch #770

Open anirudhkochhar opened 3 years ago

anirudhkochhar commented 3 years ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • [ ] Burger
    • [x] Waffle
    • [ ] Waffle Pi

  2. Which ROS is working with TurtleBot3?

    • [ ] ROS 1 Kinetic Kame
    • [ ] ROS 1 Melodic Morenia
    • [x] ROS 1 Noetic Ninjemys
    • [ ] ROS 2 Dashing Diademata
    • [ ] ROS 2 Eloquent Elusor
    • [ ] ROS 2 Foxy Fitzroy
    • [ ] etc (Please specify your ROS Version here)

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

    • [ ] Intel Joule 570x
    • [ ] Raspberry Pi 3B+
    • [ ] Raspberry Pi 4
    • [x] Intel UPSquared

  4. Which OS you installed on SBC?

    • [ ] Raspbian distributed by ROBOTIS
    • [ ] Ubuntu MATE (16.04/18.04/20.04)
    • [x] Ubuntu preinstalled server (18.04/20.04)
    • [ ] etc (Please specify your OS here)

  5. Which OS you installed on Remote PC?

    • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
    • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
    • [x] Ubuntu 20.04 LTS (Focal Fossa)
    • [ ] Windows 10
    • [ ] MAC OS X (Specify version)
    • [ ] etc (Please specify your OS here)

  6. Specify the software and firmware version(Can be found from Bringup messages)

    • Software version: [x.x.x]
    • Firmware version: [x.x.x]

  7. Specify the commands or instructions to reproduce the issue.

    • roslaunch turtlebot3_bringup turtlebot3_robot.launch

  8. Copy and Paste the error messages on terminal.

there is no error message

- roslaunch turtlebot3_bringup turtlebot3_robot.launch

... logging to /home/tello/.ros/log/eac62d16-fa96-11eb-8d52-6b7b9b0ca69c/roslaunch-fha-4482.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://192.168.0.18:35387/

SUMMARY

PARAMETERS

NODES / turtlebot3_core (rosserial_python/serial_node.py) turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics) turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.16:11311

process[turtlebot3_core-1]: started with pid [4490] process[turtlebot3_lds-2]: started with pid [4491] process[turtlebot3_diagnostics-3]: started with pid [4492] [INFO] [1628686126.646088]: ROS Serial Python Node [INFO] [1628686126.690837]: Connecting to /dev/ttyACM0 at 115200 baud [INFO] [1628686128.839200]: Requesting topics... [INFO] [1628686128.982289]: Note: publish buffer size is 1024 bytes [INFO] [1628686128.991776]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState] [INFO] [1628686129.010194]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo] [INFO] [1628686129.070334]: Setup publisher on imu [sensor_msgs/Imu] [INFO] [1628686129.090531]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist] [INFO] [1628686129.122790]: Setup publisher on odom [nav_msgs/Odometry] [INFO] [1628686129.144872]: Setup publisher on joint_states [sensor_msgs/JointState] [INFO] [1628686129.165936]: Setup publisher on battery_state [sensor_msgs/BatteryState] [INFO] [1628686129.187874]: Setup publisher on magnetic_field [sensor_msgs/MagneticField] [INFO] [1628686129.236636]: Setup publisher on /tf [tf/tfMessage] [INFO] [1628686129.263409]: Note: subscribe buffer size is 1024 bytes [INFO] [1628686129.282927]: Setup subscriber on cmd_vel [geometry_msgs/Twist] [INFO] [1628686129.311093]: Setup subscriber on sound [turtlebot3_msgs/Sound] [INFO] [1628686129.339177]: Setup subscriber on motor_power [std_msgs/Bool] [INFO] [1628686129.370952]: Setup subscriber on reset [std_msgs/Empty] [INFO] [1628686132.142252]: Setup TF on Odometry [odom] [INFO] [1628686132.152488]: Setup TF on IMU [imu_link] [INFO] [1628686132.163884]: Setup TF on MagneticField [mag_link] [INFO] [1628686132.175849]: Setup TF on JointState [base_link]

[INFO] [1628686132.200521]: Connected to OpenCR board! [INFO] [1628686132.210562]: This core(v1.2.6) is compatible with TB3 Waffle or Waffle Pi

[INFO] [1628686132.231435]: Start Calibration of Gyro [INFO] [1628686134.704229]: Calibration End

  1. Please describe the issue in detail.

    • whenever i run turtlebot3_bringup turtlebot3_launch - my lidar stops spinning (while it is spinning otherwise) - it leads to me not receiving any scan values in the rostopic /scan.
    • i looked further and found that the lidar precisely stops spinning when hls_lfcd_lds_driver/hlds_laser_publisher is called. i tried rosrun hls_lfcd_lds_driver hlds_laser_publisher - and the lidar stops spinning
ROBOTIS-Will commented 3 years ago

@anirudhkochhar How did you install the hlds_lfcd_lds_driver? The sensor driver start up the motor when LFCDLaser object is created as below. https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/blob/noetic-devel/src/hlds_laser_publisher.cpp#L49

anirudhkochhar commented 3 years ago

@anirudhkochhar How did you install the hlds_lfcd_lds_driver? The sensor driver start up the motor when LFCDLaser object is created as below. https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/blob/noetic-devel/src/hlds_laser_publisher.cpp#L49

@ROBOTIS-Will Initially I used the robotis e-manual for turtlebot3 to install all the packages with sudo apt - when I discovered the error I used the git link you provided to clone the hls_lfcd-lds_driver package in my workspace and built it with catkin_make.

Interestingly I tried the rplidar driver and it worked perfectly (https://github.com/robopeak/rplidar_ros/wiki) but I still wish to find out why hls_lfcd stopped the lidar motor.