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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
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ROS2-Humble Turtlebot3-Burger Bringup Issue #973

Closed Lily-D1001 closed 10 months ago

Lily-D1001 commented 1 year ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • [ ] Burger

  2. Which ROS is working with TurtleBot3?

    • [ ] ROS2 Humble

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

    • [ ] Raspberry Pi 3B+

  4. Which OS you installed on SBC?

    • [ ] Ubuntu server 22.04

  5. Which OS you installed on Remote PC?

    • [ ] Ubuntu desktop 22.04

  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.

    • ros2 launch turtlebot3_bringup robot.launch.py

  8. Copy and Paste the error messages on terminal.

    • [INFO] [launch]: All log files can be found below /home/HoneyBee/.ros/log/2023-07-22-16-06-01-420904-HoneyBee-2399 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_burger.urdf [INFO] [robot_state_publisher-1]: process started with pid [2400] [INFO] [hlds_laser_publisher-2]: process started with pid [2402] [INFO] [turtlebot3_ros-3]: process started with pid [2404] [hlds_laser_publisher-2] [INFO] [1690041963.019477474] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main [hlds_laser_publisher-2] [INFO] [1690041963.020486302] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan [turtlebot3_ros-3] [INFO] [1690041963.042392559] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [1690041963.044049218] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [INFO] [1690041963.047036172] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [1690041963.050465273] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [robot_state_publisher-1] [INFO] [1690041963.064064643] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1690041963.064887894] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1690041963.065041388] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1690041963.065097691] [robot_state_publisher]: got segment caster_back_link [robot_state_publisher-1] [INFO] [1690041963.065146599] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1690041963.065192381] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-1] [INFO] [1690041963.065291342] [robot_state_publisher]: got segment wheel_right_link [turtlebot3_ros-3] [ERROR] [1690041963.085080512] [turtlebot3_node]: Failed connection with Devices [turtlebot3_ros-3] [INFO] [1690041963.090495238] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [1690041963.090743005] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [1690041963.090839935] [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 ./src/rcl/node.c:428 [ERROR] [turtlebot3_ros-3]: process has died [pid 2404, exit code -6, cmd '/home/HoneyBee/turtlebot3_ws/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0 --ros-args --params-file /home/HoneyBee/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [ERROR] [hlds_laser_publisher-2]: process has died [pid 2402, exit code 255, cmd '/opt/ros/humble/lib/hls_lfcd_lds_driver/hlds_laser_publisher --ros-args -r __node:=hlds_laser_publisher --params-file /tmp/launch_params_jmwwwhan']. [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 2400]

  9. Please describe the issue in detail.

    • Hi, I am bring up the turtlebot, however, it appeared failed connection to service for several times. It seems like having some issues on node and publisher, thus, I tried rebuild the turtlebot packages and re-setup the OpenCR board but don't work.
PVGanesh2000 commented 10 months ago

Is it now worked for you.. I am facing the issue..

Lily-D1001 commented 10 months ago

Hi, it worked for me right now. The problem occurred because I uploaded the firmware twice from both the Raspberry Pi and the Arduino IDE. Hope this would help!