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ROBOTIS-GIT / turtlebot3_autorace

Autonomous Driving with TurtleBot3
http://turtlebot3.robotis.com
Apache License 2.0
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Errors when 13.2.6 Tutorials: 6. Run Autonomous Driving #43

Closed ARLunan closed 5 years ago

ARLunan commented 5 years ago

Item 4. Turtlebot SBC, "GAZEBO_MODE is not set" roslaunch turtlebot3_autorace_camera turtlebot3_autorace_intrinsic_camera_calibration.launch ... logging to /home/turtlebot/.ros/log/5efed220-c518-11e9-a75c-60d819ca036d/roslaunch-cassini-2036.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Invalid tag: environment variable 'GAZEBO_MODE' is not set.

Arg xml is The traceback for the exception was written to the log file

Trying :$export GAZEBO_MADE=true or false results in warning: The input topic '/camera/camera_info' is not yet advertised

turtlebot@cassini:~$ roslaunch turtlebot3_autorace_camera turtlebot3_autorace_intrinsic_camera_calibration.launch ... logging to /home/turtlebot/.ros/log/5efed220-c518-11e9-a75c-60d819ca036d/roslaunch-cassini-2090.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cassini.local:35223/

SUMMARY

PARAMETERS

NODES /camera/ image_proc (image_proc/image_proc) / republish (image_transport/republish)

ROS_MASTER_URI=http://herschel.local:11311

process[republish-1]: started with pid [2101] process[camera/image_proc-2]: started with pid [2102] [ WARN] [1566504976.719596878]: The input topic '/camera/camera_info' is not yet advertised ^C[camera/image_proc-2] killing on exit [republish-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done turtlebot@cassini:~$

On Remote PC, Running :$ rqt_image_view shows no camera image

JaehyunShim commented 5 years ago

@red24dog

Did you get any error codes from item2, 3, or maybe you skipped either of them? Show me your terminal windows.

Regards, Ryan

ARLunan commented 5 years ago

No errors from 13.2.6: Item 2: roscore or Item 3 roslaunch turtlebot3_bringup turtlebot3_robot.launch and LIDAR spins. I should mention that I can run the 7. Bringup 7.1 roscore on Remote PC and 7.2 roslaunch turtlebot3_bringup turtlebot3_robot.launch, start the raspicam_node on SBC and see the image with rqt_view_image on Remote PC. Where does the GAZEBO_MODE get set?

ARLunan commented 5 years ago

Following up on your Aug 22 Comment, I went back to the calibration start, 13.2.4 Tutorials: 4. Calibration.

13.2.4.1 Tutorials: 4.1 Camera Calibration Steps 1, 2, 3, 4, ran without errors.

13.2.4.2. Tutorials 4.2 Intrisic Camera Calibration. Item 1. Remote PC turtlebot@herschel:~$ roscore ... logging to /home/turtlebot/.ros/log/0c742082-c5f9-11e9-ad16-60d819ca036d/roslaunch-herschel-4413.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://herschel.local:38401/ ros_comm version 1.12.14

SUMMARY

PARAMETERS

NODES

auto-starting new master process[master]: started with pid [4423] ROS_MASTER_URI=http://herschel.local:11311/

setting /run_id to 0c742082-c5f9-11e9-ad16-60d819ca036d process[rosout-1]: started with pid [4436] started core service [/rosout]

Item2. SBC turtlebot@cassini:~$ roslaunch turtlebot3_autorace_camera turtlebot3_autorace_camera_pi.launch ... logging to /home/turtlebot/.ros/log/0c742082-c5f9-11e9-ad16-60d819ca036d/roslaunch-cassini-2043.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cassini.local:46451/

SUMMARY

PARAMETERS

NODES / camera (raspicam_node/raspicam_node)

ROS_MASTER_URI=http://herschel.local:11311

process[camera-1]: started with pid [2052] [ INFO] [1566601553.427335543]: Loading CameraInfo from package://turtlebot3_autorace_camera/calibration/intrinsic_calibration/camerav2_320x240_30fps.yaml [ INFO] [1566601553.864375405]: Camera component done

[ INFO] [1566601553.870767109]: Encoder component done

[ INFO] [1566601553.885333585]: camera calibration URL: package://turtlebot3_autorace_camera/calibration/intrinsic_calibration/camerav2_320x240_30fps.yaml [ INFO] [1566601554.022193994]: Camera successfully calibrated [ INFO] [1566601554.850267264]: Reconfigure Request: contrast 0, sharpness 0, brightness 50, saturation 0, ISO 400, exposureCompensation 0, videoStabilisation 0, vFlip 0, hFlip 0, zoom 1.00, exposure_mode auto, awb_mode auto [ INFO] [1566601554.852776686]: Reconfigure done [ INFO] [1566601555.143278818]: Starting video capture (320, 240, 80, 30)

[ INFO] [1566601555.144411628]: Video capture started

Item 3. Print Checkerboard-Done

Item 4. Remote PC

ARLunan commented 5 years ago

Item 4. Remote PC turtlebot@cassini:~$ export AUTO_IN_CALIB=calibrate turtlebot@cassini:~$ roslaunch turtlebot3_autorace_camera turtlebot3_autorace_intrinsic_camera_calibration.launch ... logging to /home/turtlebot/.ros/log/0c742082-c5f9-11e9-ad16-60d819ca036d/roslaunch-cassini-2250.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Invalid tag: environment variable 'GAZEBO_MODE' is not set.

Arg xml is The traceback for the exception was written to the log file turtlebot@cassini:~$ export GAZEBO_MODE=false turtlebot@cassini:~$ roslaunch turtlebot3_autorace_camera turtlebot3_autorace_intrinsic_camera_calibration.launch ... logging to /home/turtlebot/.ros/log/0c742082-c5f9-11e9-ad16-60d819ca036d/roslaunch-cassini-2256.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cassini.local:38459/

SUMMARY

PARAMETERS

NODES / republish (image_transport/republish)

ROS_MASTER_URI=http://herschel.local:11311

process[republish-1]: started with pid [2266]

HUNG HERE

^C[republish-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

turtlebot@cassini:~$ rosnode list /camera /cameracalibrator /rosout turtlebot@cassini:~$ roswtf Loaded plugin tf.tfwtf No package or stack in context

Static checks summary:

No errors or warnings

Beginning tests of your ROS graph. These may take awhile... analyzing graph... ... done analyzing graph running graph rules... ERROR: connection refused to [http://herschel.local:44945/] ... done running graph rules

Online checks summary:

Found 1 warning(s). Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:

Found 3 error(s).

ERROR Could not contact the following nodes:

ERROR The following nodes should be connected but aren't:

ERROR Errors connecting to the following services:

turtlebot@cassini:~$

ARLunan commented 5 years ago

Are you saying that all of Section 13 code and instructions , Autonomous Driving is outdated, which then means Autorace functions is not possible? Can ROBOTIS update the Autorace code? I have tried to run just the Section 13.2.6: Tutorial 6, Run Autonomous Driving and encountered error messages, printed in the start of this comment thread,

[ WARN] [1566504976.719596878]: The input topic '/camera/camera_info' is not yet advertised ^C[camera/image_proc-2] killing on exit [republish-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete

Can you suggest ROS diagnostic commands that I could do to find the camera problem? The Turtlebot3 (including camera) works well with basic teleoperation and SLAM/Navigation.

JaehyunShim commented 5 years ago

@red24dog

I deleted my previous answer as it was wrong. I tested the entire autonomous driving section and there were only a few mistakes in the explanation so it will work fine if you do it in the right way.

I updated the eManual so please read it and try it again. The difference is you will have to run 13.2.4.3, 13.2.4.4, 13.2.6 on Remote PC, not on TurtleBot PC.

To run 13.2.6, you will need an actual robot and map (with lanes traffic signs). Instead, you can test the package with Gazebo simulator, which is elaborated in subsection 13.6

Let me know if it still doesn't work, Ryan

ARLunan commented 5 years ago

Thank you for the eManual revisions. I was able to run 13.2.4.1 Camera Imaging successfully and 13.2.4.2Intrinsic and 13.2.4.3 Extrinsic Calibration with an error saving yaml. So I will close this Comment #43 and start a new one.