Open jsb9945 opened 1 year ago
TeacherRock
commented
1 year ago I met the same problem today. Did you do the ch3.2 (where create the turtlebot3_ws) and ch3.3 tutorial of turtlebot3 (https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup). This is the way I fxed the problem.
scybd
commented
6 months ago To perform turtlebot3 navigation simulation in gazebo, use the following command:
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.pyros2 launch turtlebot3_navigation2 navigation2.launch.pyros2 launch slam_toolbox online_async_launch.pyIn addition, make sure that export TURTLEBOT3_MODEL=waffle has been executed before executing the above three commands.
ISSUE TEMPLATE ver. 0.4.0
Which TurtleBot3 platform do you use?
Which ROS is working with TurtleBot3?
Which SBC(Single Board Computer) is working on TurtleBot3?
Which OS you installed on SBC?
Which OS you installed on Remote PC?
Specify the software and firmware version(Can be found from Bringup messages)
Specify the commands or instructions to reproduce the issue.
Copy and Paste the error messages on terminal.
[INFO] [launch]: All log files can be found below /home/csrl/.ros/log/2023-02-05-12-51-50-074157-csrl-System-Product-Name-133971 [INFO] [launch]: Default logging verbosity is set to INFO /opt/ros/foxy/share/turtlebot3_bringup/launch/robot.launch.py:76: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead Node( urdf_file_name : turtlebot3_waffle.urdf /opt/ros/foxy/share/turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py:47: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead Node( /opt/ros/foxy/share/turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py:47: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead Node( /opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead Node( /opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead Node( [INFO] [robot_state_publisher-1]: process started with pid [133973] [INFO] [hlds_laser_publisher-2]: process started with pid [133975] [INFO] [turtlebot3_ros-3]: process started with pid [133977] [hlds_laser_publisher-2] [INFO] [1675569110.181446640] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main [hlds_laser_publisher-2] [INFO] [1675569110.181549412] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan [robot_state_publisher-1] [WARN] [1675569110.183951398] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-1] Parsing robot urdf xml string. [turtlebot3_ros-3] [INFO] [1675569110.186135357] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [1675569110.186268035] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [ERROR] [1675569110.186310674] [DynamixelSDKWrapper]: Failed to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [ERROR] [1675569110.186317928] [DynamixelSDKWrapper]: Failed to initialize SDK handlers [turtlebot3_ros-3] [ERROR] [1675569110.186334358] [turtlebot3_node]: Failed connection with Devices [turtlebot3_ros-3] [PortHandlerLinux::SetupPort] Error opening serial port! [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] [INFO] [1675569110.186481883] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1675569110.186504615] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1675569110.186514674] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1675569110.186526466] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-1] [INFO] [1675569110.186538949] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-1] [INFO] [1675569110.186549189] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1675569110.186556913] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-1] [INFO] [1675569110.186564427] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-1] [INFO] [1675569110.186572292] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-1] [INFO] [1675569110.186579756] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-1] [INFO] [1675569110.186587029] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1675569110.186594583] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-1] [INFO] [1675569110.186601847] [robot_state_publisher]: got segment wheel_right_link [turtlebot3_ros-3] [INFO] [1675569110.186678610] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [1675569110.186709678] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [1675569110.186723884] [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-foxy-rcl-1.1.14/src/rcl/node.c:441 [ERROR] [hlds_laser_publisher-2]: process has died [pid 133975, exit code 255, cmd '/opt/ros/foxy/lib/hls_lfcd_lds_driver/hlds_laser_publisher --ros-args -r node:=hlds_laser_publisher -r node:=hlds_laser_publisher --params-file /tmp/launch_params_b2zzz405']. [ERROR] [turtlebot3_ros-3]: process has died [pid 133977, exit code -6, cmd '/opt/ros/foxy/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0 --ros-args --params-file /opt/ros/foxy/share/turtlebot3_bringup/param/waffle.yaml']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 133973]
Please describe the issue in detail.