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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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TurtleBot 3 Burger Bringup turtlebot3_ros-3 exit code -6 #991

Closed HDEmerald closed 8 months ago

HDEmerald commented 8 months ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

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

  2. Which ROS is working with TurtleBot3?

    • [ ] ROS 1 Kinetic Kame
    • [ ] ROS 1 Melodic Morenia
    • [ ] ROS 1 Noetic Ninjemys
    • [ ] ROS 2 Dashing Diademata
    • [ ] ROS 2 Eloquent Elusor
    • [x] 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+
    • [x] Raspberry Pi 4
    • [ ] etc (Please specify your SBC here)

  4. Which OS you installed on SBC?

    • [x] Raspbian distributed by ROBOTIS
    • [ ] Ubuntu MATE (16.04/18.04/20.04)
    • [ ] 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.

    • ros2 launch turtlebot3_bringup robot.launch.py

  8. Copy and Paste the error messages on terminal.

ubuntu@ubuntu: ~/turtlebot3_ws$ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-11-05-01-36-11-750609-ubuntu-4565 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_burger.urdf [INFO] [robot_state_publisher-1]: process started with pid [4568] [INFO] [ld08_driver-2]: process started with pid [4570] [INFO] [turtlebot3_ros-3]: process started with pid [4572] [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link base_link had 5 children [robot_state_publisher-1] Link caster_back_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] [1699148172.228864905] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1699148172.229160290] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1699148172.229207456] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1699148172.229240586] [robot_state_publisher]: got segment caster_back_link [robot_state_publisher-1] [INFO] [1699148172.229269363] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1699148172.229296566] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-1] [INFO] [1699148172.229324566] [robot_state_publisher]: got segment wheel_right_link [turtlebot3_ros-3] [INFO] [1699148172.256335505] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [1699148172.258324277] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [INFO] [1699148172.262365059] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [1699148172.268110913] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [turtlebot3_ros-3] [ERROR] [1699148172.302451761] [turtlebot3_node]: Failed connection with Devices [turtlebot3_ros-3] [INFO] [1699148172.305522870] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [1699148172.305802867] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [1699148172.305935421] [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-1.1.11/src/rcl/node.c:441 [ld08_driver-2] /dev/ttyUSB0 CP2102 USB to UART Bridge Controller [ld08_driver-2] /dev/ttyACM0 OpenCR Virtual ComPort in FS Mode [ld08_driver-2] FOUND LDS-02 [ld08_driver-2] LDS-02 started successfully [ERROR] [turtlebot3_ros-3]: process has died [pid 4572, exit code -6, cmd '/home/ubuntu/turtlebot3_ws/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0 --ros-args --params-file /home/ubuntu/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 4568] [INFO] [ld08_driver-2]: process has finished cleanly [pid 4570] ubuntu@ubuntu: ~/turtlebot3_ws$

  1. Please describe the issue in detail.

    • I have been following the Quick Start Guide for Foxy on the Robotis E-Manual page and was able to get stuff working up until I have tried to bringup my TurtleBot 3 Burger. Tests of the wheels seem to work and the LiDAR is spinning as it should. After typing 'export TURTLEBOT3_MODEL=burger' and then 'ros2 launch turtlebot3_bringup robot.launch.py' I get the exit code -6 error. Since I just started with TurtleBot all the firmware/software should be very up-to-date at the very minimum. I am not too experienced with Linux and ROS so everything is very new to me.
HDEmerald commented 8 months ago

I have found the issue. Initially I tried to setup the OpenCR board through ssh from my Remote PC. After finally resorting to redoing all the Quick Start Guide steps over again, I realized that the file modification dates on my Rasberry Pi 4B were all set back in 2019 or 2020, meaning that the OpenCR board didn't get setup with the current code. After running through the OpenCR Setup steps listed here, the problem went away and my robot booted up just fine.