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clearpathrobotics / robot_upstart

ROS package of helper functions related to bringing up roslaunch on system startup.
BSD 3-Clause "New" or "Revised" License
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Starting service failed - cannot access '/etc/ros/galactic/turtlebot4.d/*.xacro' or '/etc/ros/galactic/turtlebot4.d/*.launch.py' #117

Closed jmm-slamcore closed 1 year ago

jmm-slamcore commented 1 year ago

I'm getting the following error when trying to run the service created by robot_upstart (installed via apt) in ROS2 Galactic.

 turtlebot4.service - "bringup turtlebot4"
     Loaded: loaded (/lib/systemd/system/turtlebot4.service; enabled; vendor preset: enabled)
     Active: failed (Result: exit-code) since Tue 2023-01-31 15:00:18 UTC; 9s ago
    Process: 3361 ExecStart=/usr/sbin/turtlebot4-start (code=exited, status=1/FAILURE)
   Main PID: 3361 (code=exited, status=1/FAILURE)

Jan 31 15:00:14 ganymede systemd[1]: Started "bringup turtlebot4".
Jan 31 15:00:15 ganymede root[3415]: turtlebot4: Launching ROS_HOSTNAME=ganymede, ROS_IP=, ROS_MASTER_URI=, ROS_HOME=/home/slamcore/.ros>
Jan 31 15:00:15 ganymede turtlebot4-start[3415]: <14>Jan 31 15:00:15 root: turtlebot4: Launching ROS_HOSTNAME=ganymede, ROS_IP=, ROS_MAS>
Jan 31 15:00:16 ganymede turtlebot4-start[3421]: ls: cannot access '/etc/ros/galactic/turtlebot4.d/*.xacro': No such file or directory
Jan 31 15:00:18 ganymede turtlebot4-start[3424]: ls: cannot access '/etc/ros/galactic/turtlebot4.d/*.launch.py': No such file or directo>
Jan 31 15:00:18 ganymede systemd[1]: turtlebot4.service: Main process exited, code=exited, status=1/FAILURE
Jan 31 15:00:18 ganymede systemd[1]: turtlebot4.service: Failed with result 'exit-code'

Is this a permissions issue?

tonybaltovski commented 1 year ago

What happens when you run /usr/sbin/turtlebot4-start?

jmm-slamcore commented 1 year ago

This is the full output from the command /usr/sbin/turtlebot4-start when trying to bring up my custom launch file which is in a colcon workspace:

<14>Feb  1 10:15:32 ubuntu: turtlebot4: Using workspace setup file /home/ubuntu/slamcore-ros2-examples/install/slamcore_ros2_turtlebot4_example/../setup.bash
<14>Feb  1 10:15:33 ubuntu: turtlebot4: Launching ROS_HOSTNAME=ubuntu, ROS_IP=, ROS_MASTER_URI=, ROS_HOME=/home/ubuntu/.ros, ROS_LOG_DIR=/tmp
ls: cannot access '/etc/ros/galactic/turtlebot4.d/*.xacro': No such file or directory
ls: cannot access '/etc/ros/galactic/turtlebot4.d/*.launch.py': No such file or directory
<11>Feb  1 10:15:35 ubuntu: turtlebot4: Unable to generate amalgamated launchfile. /etc/ros/galactic/turtlebot4.d /tmp/turtlebot4.launch.py

This is the command I used to create the service:

ros2 run robot_upstart install slamcore_ros2_turtlebot4_example/launch/turtlebot4_bringup_standard_launch.py --job turtlebot4 --ros_domain_id 20 --rmw rmw_fastrtps_cpp --symlink

When using the default turtlebot4_bringup (installed via apt) launch file it does seem to start fine:

ubuntu@ubuntu:~$ sudo turtlebot4-start
<14>Feb  1 11:04:28 ubuntu: turtlebot4: Using workspace setup file /home/ubuntu/slamcore-ros2-examples-priv/install/slamcore_ros2_turtlebot4_example/../setup.bash
<14>Feb  1 11:04:29 ubuntu: turtlebot4: Launching ROS_HOSTNAME=ubuntu, ROS_IP=, ROS_MASTER_URI=, ROS_HOME=/home/ubuntu/.ros, ROS_LOG_DIR=/tmp
ls: cannot access '/etc/ros/galactic/turtlebot4.d/*.xacro': No such file or directory
<14>Feb  1 11:04:31 ubuntu: turtlebot4: Generated launchfile: /tmp/turtlebot4.launch.py
<14>Feb  1 11:04:31 ubuntu: turtlebot4: Started ros2 launch as background process, PID 8172, ROS_LOG_DIR=/tmp
[INFO] [launch]: All log files can be found below /tmp/2023-02-01-11-04-32-901196-ubuntu-8172
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [turtlebot4_node-1]: process started with pid [8176]
[INFO] [turtlebot4_base_node-2]: process started with pid [8178]
[INFO] [joy_linux_node-3]: process started with pid [8180]
[INFO] [teleop_node-4]: process started with pid [8182]
[INFO] [aggregator_node-5]: process started with pid [8185]
[INFO] [diagnostics_updater-6]: process started with pid [8205]
[INFO] [rplidar_composition-7]: process started with pid [8220]
[INFO] [rgb_stereo_node-8]: process started with pid [8226]
[INFO] [robot_state_publisher-9]: process started with pid [8233]
[turtlebot4_base_node-2] int8_t turtlebot4_base::I2cInterface::open_bus(): Connected to /dev/i2c-3
[turtlebot4_base_node-2] [INFO] [1675249475.939132459] [turtlebot4_base_node]: Turtlebot4 Base Node Running
[turtlebot4_base_node-2] [INFO] [1675249475.954964575] [turtlebot4_base_node]: Init Display
[turtlebot4_base_node-2] [INFO] [1675249475.978002383] [turtlebot4_base_node]: Leds Init
[teleop_node-4] [INFO] [1675249476.079706068] [TeleopTwistJoy]: Teleop enable button 4.
[teleop_node-4] [INFO] [1675249476.079901252] [TeleopTwistJoy]: Turbo on button 5.
[teleop_node-4] [INFO] [1675249476.079930900] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.200000.
[teleop_node-4] [INFO] [1675249476.079960418] [TeleopTwistJoy]: Turbo for linear axis x is scale 0.500000.
[teleop_node-4] [INFO] [1675249476.079979326] [TeleopTwistJoy]: Angular axis yaw on 0 at scale 0.500000.
[teleop_node-4] [INFO] [1675249476.079996066] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.900000.
[turtlebot4_node-1] [INFO] [1675249476.191317613] [turtlebot4_node]: Init Turtlebot4 Node Main
[joy_linux_node-3] [ERROR] [1675249476.214626901] [joy_linux_node]: Couldn't open joystick /dev/input/js0. Will retry every second.
[aggregator_node-5] [INFO] [1675249476.319244678] [AnalyzerGroup]: Retrieved 32 parameter(s) for analyzer group with prefix ''.
[aggregator_node-5] [INFO] [1675249476.319470991] [AnalyzerGroup]: Group '/Turtlebot4', creating diagnostic_aggregator/GenericAnalyzer 'Camera' (breadcrumb: camera) ...
[aggregator_node-5] [INFO] [1675249476.326958311] [GenericAnalyzerBase]: Initialized analyzer 'Camera' with path '/Turtlebot4/Camera' and breadcrumb 'camera'.
[aggregator_node-5] [INFO] [1675249476.327635344] [AnalyzerGroup]: Adding analyzer 'Camera' to group '/Turtlebot4'.
[aggregator_node-5] [INFO] [1675249476.327704528] [AnalyzerGroup]: Group '/Turtlebot4', creating diagnostic_aggregator/AnalyzerGroup 'Create3' (breadcrumb: create3) ...
[aggregator_node-5] [INFO] [1675249476.331236671] [AnalyzerGroup]: Retrieved 20 parameter(s) for analyzer group with prefix 'create3'.
[aggregator_node-5] [INFO] [1675249476.331343134] [AnalyzerGroup]: Group '/Turtlebot4/Create3', creating diagnostic_aggregator/GenericAnalyzer 'Battery' (breadcrumb: analyzers.battery) ...
[aggregator_node-5] [INFO] [1675249476.333954079] [GenericAnalyzerBase]: Initialized analyzer 'Battery' with path '/Turtlebot4/Create3/Battery' and breadcrumb 'create3.analyzers.battery'.
[aggregator_node-5] [INFO] [1675249476.334037708] [AnalyzerGroup]: Adding analyzer 'Battery' to group '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249476.334068912] [AnalyzerGroup]: Group '/Turtlebot4/Create3', creating diagnostic_aggregator/GenericAnalyzer 'Dock' (breadcrumb: analyzers.docked) ...
[aggregator_node-5] [INFO] [1675249476.334149244] [GenericAnalyzerBase]: Initialized analyzer 'Dock' with path '/Turtlebot4/Create3/Dock' and breadcrumb 'create3.analyzers.docked'.
[aggregator_node-5] [INFO] [1675249476.334173578] [AnalyzerGroup]: Adding analyzer 'Dock' to group '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249476.334194318] [AnalyzerGroup]: Group '/Turtlebot4/Create3', creating diagnostic_aggregator/GenericAnalyzer 'Hazards' (breadcrumb: analyzers.hazards) ...
[aggregator_node-5] [INFO] [1675249476.334246447] [GenericAnalyzerBase]: Initialized analyzer 'Hazards' with path '/Turtlebot4/Create3/Hazards' and breadcrumb 'create3.analyzers.hazards'.
[aggregator_node-5] [INFO] [1675249476.334267244] [AnalyzerGroup]: Adding analyzer 'Hazards' to group '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249476.334286595] [AnalyzerGroup]: Group '/Turtlebot4/Create3', creating diagnostic_aggregator/GenericAnalyzer 'IMU' (breadcrumb: analyzers.imu) ...
[aggregator_node-5] [INFO] [1675249476.334336762] [GenericAnalyzerBase]: Initialized analyzer 'IMU' with path '/Turtlebot4/Create3/IMU' and breadcrumb 'create3.analyzers.imu'.
[aggregator_node-5] [INFO] [1675249476.334358021] [AnalyzerGroup]: Adding analyzer 'IMU' to group '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249476.334376595] [AnalyzerGroup]: Group '/Turtlebot4/Create3', creating diagnostic_aggregator/GenericAnalyzer 'Mouse' (breadcrumb: analyzers.mouse) ...
[aggregator_node-5] [INFO] [1675249476.334426372] [GenericAnalyzerBase]: Initialized analyzer 'Mouse' with path '/Turtlebot4/Create3/Mouse' and breadcrumb 'create3.analyzers.mouse'.
[aggregator_node-5] [INFO] [1675249476.334447965] [AnalyzerGroup]: Adding analyzer 'Mouse' to group '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249476.334467353] [AnalyzerGroup]: Group '/Turtlebot4/Create3', creating diagnostic_aggregator/GenericAnalyzer 'Wheels' (breadcrumb: analyzers.wheels) ...
[aggregator_node-5] [INFO] [1675249476.334521316] [GenericAnalyzerBase]: Initialized analyzer 'Wheels' with path '/Turtlebot4/Create3/Wheels' and breadcrumb 'create3.analyzers.wheels'.
[aggregator_node-5] [INFO] [1675249476.334544168] [AnalyzerGroup]: Adding analyzer 'Wheels' to group '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249476.334632926] [AnalyzerGroup]: Initialized analyzer group '/Turtlebot4/Create3' with path '/Turtlebot4/Create3' and breadcrumb 'create3'.
[aggregator_node-5] [INFO] [1675249476.334681056] [AnalyzerGroup]: Adding analyzer '/Turtlebot4/Create3' to group '/Turtlebot4'.
[aggregator_node-5] [INFO] [1675249476.334703630] [AnalyzerGroup]: Group '/Turtlebot4', creating diagnostic_aggregator/GenericAnalyzer 'Lidar' (breadcrumb: lidar) ...
[aggregator_node-5] [INFO] [1675249476.334799796] [GenericAnalyzerBase]: Initialized analyzer 'Lidar' with path '/Turtlebot4/Lidar' and breadcrumb 'lidar'.
[aggregator_node-5] [INFO] [1675249476.334835499] [AnalyzerGroup]: Adding analyzer 'Lidar' to group '/Turtlebot4'.
[aggregator_node-5] [INFO] [1675249476.334860203] [AnalyzerGroup]: Initialized analyzer group 'Turtlebot4' with path '/Turtlebot4' and breadcrumb ''.
[aggregator_node-5] [INFO] [1675249476.335023257] [GenericAnalyzerBase]: Initialized analyzer 'Other' with path '/Turtlebot4/Other' and breadcrumb ''.
[rplidar_composition-7] [INFO] [1675249476.508301091] [rplidar_composition]: RPLIDAR running on ROS 2 package rplidar_ros. SDK Version: '1.12.0'
[robot_state_publisher-9] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-9] Link bump_front_center had 0 children
[robot_state_publisher-9] Link bump_front_left had 0 children
[robot_state_publisher-9] Link bump_front_right had 0 children
[robot_state_publisher-9] Link bump_left had 0 children
[robot_state_publisher-9] Link bump_right had 0 children
[robot_state_publisher-9] Link button_1 had 0 children
[robot_state_publisher-9] Link button_2 had 0 children
[robot_state_publisher-9] Link button_power had 0 children
[robot_state_publisher-9] Link cliff_front_left had 0 children
[robot_state_publisher-9] Link cliff_front_right had 0 children
[robot_state_publisher-9] Link cliff_side_left had 0 children
[robot_state_publisher-9] Link cliff_side_right had 0 children
[robot_state_publisher-9] Link front_caster_link had 0 children
[robot_state_publisher-9] Link front_left_bottom_weight_block had 0 children
[robot_state_publisher-9] Link front_left_top_weight_block had 0 children
[robot_state_publisher-9] Link front_right_bottom_weight_block had 0 children
[robot_state_publisher-9] Link front_right_top_weight_block had 0 children
[robot_state_publisher-9] Link imu_link had 0 children
[robot_state_publisher-9] Link ir_intensity_front_center_left had 0 children
[robot_state_publisher-9] Link ir_intensity_front_center_right had 0 children
[robot_state_publisher-9] Link ir_intensity_front_left had 0 children
[robot_state_publisher-9] Link ir_intensity_front_right had 0 children
[robot_state_publisher-9] Link ir_intensity_left had 0 children
[robot_state_publisher-9] Link ir_intensity_right had 0 children
[robot_state_publisher-9] Link ir_intensity_side_left had 0 children
[robot_state_publisher-9] Link ir_omni had 0 children
[robot_state_publisher-9] Link mouse had 0 children
[robot_state_publisher-9] Link shell_link had 7 children
[robot_state_publisher-9] Link front_left_tower_standoff had 0 children
[robot_state_publisher-9] Link front_right_tower_standoff had 0 children
[robot_state_publisher-9] Link oakd_pro_camera_bracket had 1 children
[robot_state_publisher-9] Link oakd_pro_link had 4 children
[robot_state_publisher-9] Link oakd_pro_imu_frame had 0 children
[robot_state_publisher-9] Link oakd_pro_left_camera_frame had 1 children
[robot_state_publisher-9] Link oakd_pro_left_camera_optical_frame had 0 children
[robot_state_publisher-9] Link oakd_pro_rgb_camera_frame had 1 children
[robot_state_publisher-9] Link oakd_pro_rgb_camera_optical_frame had 0 children
[robot_state_publisher-9] Link oakd_pro_right_camera_frame had 1 children
[robot_state_publisher-9] Link oakd_pro_right_camera_optical_frame had 0 children
[robot_state_publisher-9] Link rear_left_tower_standoff had 0 children
[robot_state_publisher-9] Link rear_right_tower_standoff had 0 children
[robot_state_publisher-9] Link rplidar_link had 0 children
[robot_state_publisher-9] Link tower_sensor_plate had 0 children
[robot_state_publisher-9] Link wheel_drop_left had 1 children
[robot_state_publisher-9] Link left_wheel had 0 children
[robot_state_publisher-9] Link wheel_drop_right had 1 children
[robot_state_publisher-9] Link right_wheel had 0 children
[robot_state_publisher-9] [INFO] [1675249476.565104227] [robot_state_publisher]: got segment base_link
[robot_state_publisher-9] [INFO] [1675249476.566373477] [robot_state_publisher]: got segment bump_front_center
[robot_state_publisher-9] [INFO] [1675249476.567514136] [robot_state_publisher]: got segment bump_front_left
[robot_state_publisher-9] [INFO] [1675249476.568056411] [robot_state_publisher]: got segment bump_front_right
[robot_state_publisher-9] [INFO] [1675249476.568137558] [robot_state_publisher]: got segment bump_left
[robot_state_publisher-9] [INFO] [1675249476.568176521] [robot_state_publisher]: got segment bump_right
[robot_state_publisher-9] [INFO] [1675249476.568208187] [robot_state_publisher]: got segment button_1
[robot_state_publisher-9] [INFO] [1675249476.568235761] [robot_state_publisher]: got segment button_2
[robot_state_publisher-9] [INFO] [1675249476.568262817] [robot_state_publisher]: got segment button_power
[robot_state_publisher-9] [INFO] [1675249476.568288002] [robot_state_publisher]: got segment cliff_front_left
[robot_state_publisher-9] [INFO] [1675249476.568314020] [robot_state_publisher]: got segment cliff_front_right
[robot_state_publisher-9] [INFO] [1675249476.568339705] [robot_state_publisher]: got segment cliff_side_left
[robot_state_publisher-9] [INFO] [1675249476.568365297] [robot_state_publisher]: got segment cliff_side_right
[robot_state_publisher-9] [INFO] [1675249476.568389538] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-9] [INFO] [1675249476.568415167] [robot_state_publisher]: got segment front_left_bottom_weight_block
[robot_state_publisher-9] [INFO] [1675249476.568440519] [robot_state_publisher]: got segment front_left_top_weight_block
[robot_state_publisher-9] [INFO] [1675249476.568467130] [robot_state_publisher]: got segment front_left_tower_standoff
[robot_state_publisher-9] [INFO] [1675249476.568496371] [robot_state_publisher]: got segment front_right_bottom_weight_block
[robot_state_publisher-9] [INFO] [1675249476.568592055] [robot_state_publisher]: got segment front_right_top_weight_block
[robot_state_publisher-9] [INFO] [1675249476.568657888] [robot_state_publisher]: got segment front_right_tower_standoff
[robot_state_publisher-9] [INFO] [1675249476.568686591] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-9] [INFO] [1675249476.568712925] [robot_state_publisher]: got segment ir_intensity_front_center_left
[robot_state_publisher-9] [INFO] [1675249476.568739554] [robot_state_publisher]: got segment ir_intensity_front_center_right
[robot_state_publisher-9] [INFO] [1675249476.568900127] [robot_state_publisher]: got segment ir_intensity_front_left
[robot_state_publisher-9] [INFO] [1675249476.568945386] [robot_state_publisher]: got segment ir_intensity_front_right
[robot_state_publisher-9] [INFO] [1675249476.568973886] [robot_state_publisher]: got segment ir_intensity_left
[robot_state_publisher-9] [INFO] [1675249476.569003349] [robot_state_publisher]: got segment ir_intensity_right
[robot_state_publisher-9] [INFO] [1675249476.569030737] [robot_state_publisher]: got segment ir_intensity_side_left
[robot_state_publisher-9] [INFO] [1675249476.569057422] [robot_state_publisher]: got segment ir_omni
[robot_state_publisher-9] [INFO] [1675249476.569082126] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-9] [INFO] [1675249476.569106792] [robot_state_publisher]: got segment mouse
[robot_state_publisher-9] [INFO] [1675249476.569130570] [robot_state_publisher]: got segment oakd_pro_camera_bracket
[robot_state_publisher-9] [INFO] [1675249476.569201810] [robot_state_publisher]: got segment oakd_pro_imu_frame
[robot_state_publisher-9] [INFO] [1675249476.569231514] [robot_state_publisher]: got segment oakd_pro_left_camera_frame
[robot_state_publisher-9] [INFO] [1675249476.569258551] [robot_state_publisher]: got segment oakd_pro_left_camera_optical_frame
[robot_state_publisher-9] [INFO] [1675249476.569283421] [robot_state_publisher]: got segment oakd_pro_link
[robot_state_publisher-9] [INFO] [1675249476.569309698] [robot_state_publisher]: got segment oakd_pro_rgb_camera_frame
[robot_state_publisher-9] [INFO] [1675249476.569704844] [robot_state_publisher]: got segment oakd_pro_rgb_camera_optical_frame
[robot_state_publisher-9] [INFO] [1675249476.569788751] [robot_state_publisher]: got segment oakd_pro_right_camera_frame
[robot_state_publisher-9] [INFO] [1675249476.569819288] [robot_state_publisher]: got segment oakd_pro_right_camera_optical_frame
[robot_state_publisher-9] [INFO] [1675249476.569845491] [robot_state_publisher]: got segment rear_left_tower_standoff
[robot_state_publisher-9] [INFO] [1675249476.569871972] [robot_state_publisher]: got segment rear_right_tower_standoff
[robot_state_publisher-9] [INFO] [1675249476.569899565] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-9] [INFO] [1675249476.570066656] [robot_state_publisher]: got segment rplidar_link
[robot_state_publisher-9] [INFO] [1675249476.570114693] [robot_state_publisher]: got segment shell_link
[robot_state_publisher-9] [INFO] [1675249476.570140934] [robot_state_publisher]: got segment tower_sensor_plate
[robot_state_publisher-9] [INFO] [1675249476.570172507] [robot_state_publisher]: got segment wheel_drop_left
[robot_state_publisher-9] [INFO] [1675249476.570197489] [robot_state_publisher]: got segment wheel_drop_right
[turtlebot4_node-1] [INFO] [1675249476.649091550] [turtlebot4_node]: Buttons Init
[turtlebot4_node-1] [INFO] [1675249476.670950922] [turtlebot4_node]: Init Display
[turtlebot4_node-1] [INFO] [1675249476.687666235] [turtlebot4_node]: Leds Init
[turtlebot4_node-1] [INFO] [1675249476.732896745] [turtlebot4_node]: Turtlebot4 standard running.
[aggregator_node-5] [INFO] [1675249478.214799918] [GenericAnalyzer]: Analyzer 'Battery' matches 'turtlebot4_diagnostics: Battery Percentage'.
[aggregator_node-5] [INFO] [1675249478.214905528] [AnalyzerGroup]: Group '/Turtlebot4/Create3' has a match with my analyzer 'Battery'.
[aggregator_node-5] [INFO] [1675249478.214931343] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249478.218843094] [GenericAnalyzer]: Analyzer 'Battery' matches 'turtlebot4_diagnostics: Battery Voltage'.
[aggregator_node-5] [INFO] [1675249478.218922834] [AnalyzerGroup]: Group '/Turtlebot4/Create3' has a match with my analyzer 'Battery'.
[aggregator_node-5] [INFO] [1675249478.218947075] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249478.220800359] [GenericAnalyzer]: Analyzer 'Hazards' matches 'turtlebot4_diagnostics: Hazard Detections'.
[aggregator_node-5] [INFO] [1675249478.220882358] [AnalyzerGroup]: Group '/Turtlebot4/Create3' has a match with my analyzer 'Hazards'.
[aggregator_node-5] [INFO] [1675249478.220932247] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249478.221692057] [GenericAnalyzer]: Analyzer 'Lidar' matches 'turtlebot4_diagnostics: /scan topic status'.
[aggregator_node-5] [INFO] [1675249478.221761315] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer 'Lidar'.
[aggregator_node-5] [INFO] [1675249478.222585588] [GenericAnalyzer]: Analyzer 'Camera' matches 'turtlebot4_diagnostics: /stereo/depth topic status'.
[aggregator_node-5] [INFO] [1675249478.222653550] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer 'Camera'.
[aggregator_node-5] [INFO] [1675249478.223593970] [GenericAnalyzer]: Analyzer 'Camera' matches 'turtlebot4_diagnostics: /color/preview/image topic status'.
[aggregator_node-5] [INFO] [1675249478.223665414] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer 'Camera'.
[aggregator_node-5] [INFO] [1675249478.224543871] [GenericAnalyzer]: Analyzer 'IMU' matches 'turtlebot4_diagnostics: /imu topic status'.
[aggregator_node-5] [INFO] [1675249478.224662000] [AnalyzerGroup]: Group '/Turtlebot4/Create3' has a match with my analyzer 'IMU'.
[aggregator_node-5] [INFO] [1675249478.224688888] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249478.225515272] [GenericAnalyzer]: Analyzer 'Mouse' matches 'turtlebot4_diagnostics: /mouse topic status'.
[aggregator_node-5] [INFO] [1675249478.225586012] [AnalyzerGroup]: Group '/Turtlebot4/Create3' has a match with my analyzer 'Mouse'.
[aggregator_node-5] [INFO] [1675249478.225605697] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249478.229965631] [GenericAnalyzer]: Analyzer 'Wheels' matches 'turtlebot4_diagnostics: Wheel Status'.
[aggregator_node-5] [INFO] [1675249478.230047148] [AnalyzerGroup]: Group '/Turtlebot4/Create3' has a match with my analyzer 'Wheels'.
[aggregator_node-5] [INFO] [1675249478.230065611] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer '/Turtlebot4/Create3'.
[aggregator_node-5] [INFO] [1675249478.230097519] [GenericAnalyzer]: Analyzer 'Dock' matches 'turtlebot4_diagnostics: Dock Status'.
[aggregator_node-5] [INFO] [1675249478.230115685] [AnalyzerGroup]: Group '/Turtlebot4/Create3' has a match with my analyzer 'Dock'.
[aggregator_node-5] [INFO] [1675249478.230132611] [AnalyzerGroup]: Group 'Turtlebot4' has a match with my analyzer '/Turtlebot4/Create3'.

Created the service with:

ros2 run robot_upstart install turtlebot4_bringup/launch/standard.launch.py --job turtlebot4 --ros_domain_id 20 --rmw rmw_fastrtps_cpp --symlink
jmm-slamcore commented 1 year ago

Updating my launchfile name from turtlebot4_bringup_standard_launch.py to turtlebot4_bringup_standard.launch.py seems to fix the issue.

ubuntu@ubuntu:~$ sudo slamcore_turtlebot4-start
<14>Feb  1 11:14:33 ubuntu: slamcore_turtlebot4: Using workspace setup file /home/ubuntu/slamcore-ros2-examples-priv/install/slamcore_ros2_turtlebot4_example/../setup.bash
<14>Feb  1 11:14:34 ubuntu: slamcore_turtlebot4: Launching ROS_HOSTNAME=ubuntu, ROS_IP=, ROS_MASTER_URI=, ROS_HOME=/home/ubuntu/.ros, ROS_LOG_DIR=/tmp
ls: cannot access '/etc/ros/galactic/slamcore_turtlebot4.d/*.xacro': No such file or directory
<14>Feb  1 11:14:36 ubuntu: slamcore_turtlebot4: Generated launchfile: /tmp/slamcore_turtlebot4.launch.py
<14>Feb  1 11:14:36 ubuntu: slamcore_turtlebot4: Started ros2 launch as background process, PID 8878, ROS_LOG_DIR=/tmp
[INFO] [launch]: All log files can be found below /tmp/2023-02-01-11-14-37-594767-ubuntu-8878
[INFO] [launch]: Default logging verbosity is set to INFO
...

I still get this error/warning though:

ls: cannot access '/etc/ros/galactic/slamcore_turtlebot4.d/*.xacro': No such file or directory

but the robot description seems to be loaded correctly.

tonybaltovski commented 1 year ago

That warning shouldn't be an issue. Glad you got it working.