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gaunthan / Turtlebot2-On-Melodic

Make your Turtlebot2 runs on ROS Melodic (Ubuntu 18.04).
GNU Lesser General Public License v3.0
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Motors not moving. #6

Open sieuwe1 opened 4 years ago

sieuwe1 commented 4 years ago

Hi

I have installed ROS melodic succesfully on the computer of the robot. I can launch roslaunch turtlebot_bringup minimal.launch and I then hear a beep from the robot.

The problem comes when I run roslaunch turtlebot_teleop keyboard_teleop.launch. The robot will connect and no error message will pop up but when I press the keys on my keyboard the speed in the terminal will increment but the motors wont move.

The robot is turned on. System is a Jetson Nano connected with USB to a kobuki base. I dont own the entire turtlebot 2 just the kobuki base which is the same as the one on the turtlebot 2.

If you need any more info please ask.

Greetings

Sieuwe

gaunthan commented 4 years ago

Hi. Which script you used to install turtlebot-related packages?

After bringup the robot, could you receive any message that the robot published?

sieuwe1 commented 4 years ago

Hi @gaunthan I used your script to install the turtlebot packages using the instructions in your Readme. I am now not at the robot so can not tell you if any messages are published. I will get back to you tomorrow because I am then at the robot.

Greetings Sieuwe

sieuwe1 commented 4 years ago

Hi @gaunthan

Here are the terminal outputs for 3 scripts I run. I think the last one is the most interesting because that shows an error with the "Call to action server". Not actually sure what this is tho. And also this error only came after I shut down ROS using control + C. So maybe because I was shutting it down the error came? When running normally none of these scripts gave any real errors.

Also I dont think I can recieve any messages from the robot. There is a " malformed sub-payload detected." erro in the first output so maybe the robot is trying to send messages but failing?

Thanks for your help.

Greetings

Sieuwe

jetson@jetson-Nano:~/catkin_workspace$ roslaunch /home/jetson/catkin_workspace/src/turtlebot/turtlebot_bringup/launch/minimal.launch
... logging to /home/jetson/.ros/log/0b11ccee-7fc6-11ea-a571-00044be6f499/roslaunch-jetson-Nano-27856.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jetson-Nano:44969/

SUMMARY
========

PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /home/jetson/catk...
 * /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
 * /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
 * /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
 * /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
 * /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
 * /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
 * /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
 * /diagnostic_aggregator/analyzers/power/path: Power System
 * /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/power/timeout: 5.0
 * /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
 * /diagnostic_aggregator/analyzers/sensors/path: Sensors
 * /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
 * /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /mobile_base/base_frame: base_footprint
 * /mobile_base/battery_capacity: 16.5
 * /mobile_base/battery_dangerous: 13.2
 * /mobile_base/battery_low: 14.0
 * /mobile_base/cmd_vel_timeout: 0.6
 * /mobile_base/device_port: /dev/kobuki
 * /mobile_base/odom_frame: odom
 * /mobile_base/publish_tf: True
 * /mobile_base/use_imu_heading: True
 * /mobile_base/wheel_left_joint_name: wheel_left_joint
 * /mobile_base/wheel_right_joint_name: wheel_right_joint
 * /robot/name: turtlebot
 * /robot/type: turtlebot
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 5.0
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /turtlebot_laptop_battery/acpi_path: /sys/class/power_...
 * /use_sim_time: False

NODES
  /
    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    mobile_base (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)

auto-starting new master
process[master]: started with pid [27885]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0b11ccee-7fc6-11ea-a571-00044be6f499
process[rosout-1]: started with pid [27899]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [27906]
process[diagnostic_aggregator-3]: started with pid [27907]
process[mobile_base_nodelet_manager-4]: started with pid [27913]
process[mobile_base-5]: started with pid [27918]
process[bumper2pointcloud-6]: started with pid [27921]
process[cmd_vel_mux-7]: started with pid [27925]
ERROR: cannot launch node of type [laptop_battery_monitor/laptop_battery.py]: laptop_battery_monitor
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/jetson/catkin_workspace/src
ROS path [2]=/opt/ros/melodic/share
[ERROR] [1587029928.402926995]: Kobuki : malformed sub-payload detected. [154][170][9A AA 55 4D 01 0F 74 D1 00 00 00 E6 ]

^C[cmd_vel_mux-7] killing on exit
[bumper2pointcloud-6] killing on exit
[mobile_base_nodelet_manager-4] killing on exit
[mobile_base-5] killing on exit
[diagnostic_aggregator-3] killing on exit
[robot_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

jetson@jetson-Nano:~/catkin_workspace$ roslaunch turtlebot_teleop keyboard_teleop.launch
... logging to /home/jetson/.ros/log/bd6c22ae-7fc6-11ea-a4bc-00044be6f499/roslaunch-jetson-Nano-29215.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jetson-Nano:40627/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /turtlebot_teleop_keyboard/scale_angular: 1.5
 * /turtlebot_teleop_keyboard/scale_linear: 0.5

NODES
  /
    turtlebot_teleop_keyboard (turtlebot_teleop/turtlebot_teleop_key)

auto-starting new master
process[master]: started with pid [29236]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bd6c22ae-7fc6-11ea-a4bc-00044be6f499
process[rosout-1]: started with pid [29251]
started core service [/rosout]
process[turtlebot_teleop_keyboard-2]: started with pid [29256]

Control Your Turtlebot!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly

CTRL-C to quit

currently:  speed 0.2   turn 1 
currently:  speed 0.22  turn 1 
currently:  speed 0.22  turn 1.1 
currently:  speed 0.242 turn 1.1 
currently:  speed 0.242 turn 1.21 
currently:  speed 0.2662    turn 1.21 
currently:  speed 0.29282   turn 1.21 
currently:  speed 0.322102  turn 1.21 
currently:  speed 0.3543122 turn 1.21 
currently:  speed 0.38974342    turn 1.21 
currently:  speed 0.428717762   turn 1.21 
currently:  speed 0.4715895382  turn 1.21 
currently:  speed 0.51874849202 turn 1.21 
currently:  speed 0.570623341222    turn 1.21 
currently:  speed 0.627685675344    turn 1.21 
currently:  speed 0.690454242879    turn 1.331 

Control Your Turtlebot!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

CTRL-C to quit

currently:  speed 0.759499667166    turn 1.4641 
currently:  speed 0.835449633883    turn 1.61051 
currently:  speed 0.835449633883    turn 1.771561 
currently:  speed 0.835449633883    turn 1.9487171 
currently:  speed 0.835449633883    turn 2.14358881 
currently:  speed 0.835449633883    turn 2.357947691 
currently:  speed 0.835449633883    turn 2.5937424601 
currently:  speed 0.835449633883    turn 2.85311670611 
currently:  speed 0.918994597271    turn 2.85311670611 
[turtlebot_teleop_keyboard-2] process has finished cleanly
log file: /home/jetson/.ros/log/bd6c22ae-7fc6-11ea-a4bc-00044be6f499/turtlebot_teleop_keyboard-2*.log
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly

CTRL-C to quit

currently:  speed 0.759499667166    turn 1.4641 
currently:  speed 0.835449633883    turn 1.61051 
currently:  speed 0.835449633883    turn 1.771561 
currently:  speed 0.835449633883    turn 1.9487171 
currently:  speed 0.835449633883    turn 2.14358881 
currently:  speed 0.835449633883    turn 2.357947691 
currently:  speed 0.835449633883    turn 2.5937424601 
currently:  speed 0.835449633883    turn 2.85311670611 
currently:  speed 0.918994597271    turn 2.85311670611 
[turtlebot_teleop_keyboard-2] process has finished cleanly
log file: /home/jetson/.ros/log/bd6c22ae-7fc6-11ea-a4bc-00044be6f499/turtlebot_teleop_keyboard-2*.log
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done


jetson@jetson-Nano:~/catkin_workspace$ roslaunch /home/jetson/catkin_workspace/src/turtlebot_apps/turtlebot_actions/launch/client_move_test.launch
... logging to /home/jetson/.ros/log/f164e5be-7fc6-11ea-a474-00044be6f499/roslaunch-jetson-Nano-29541.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jetson-Nano:35069/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES
  /
    test_move (turtlebot_actions/test_move.py)

auto-starting new master
process[master]: started with pid [29562]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f164e5be-7fc6-11ea-a474-00044be6f499
process[rosout-1]: started with pid [29573]
started core service [/rosout]
process[test_move-2]: started with pid [29580]
^C[test_move-2] killing on exit
[ERROR] [1587030320.517019]: Call to action server failed
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
marvinferber commented 4 years ago

Hi, I just checked the issue. I am afraid there are no UDEV rules in Ubuntu Bionic for Kobuki. So you cannot use /dev/ttyUSB0 as a non-root user. Fortunately, there is a script available to fix this. See http://wiki.ros.org/kobuki_ftdi/Tutorials/Udev%20Rules kobuki_ftdi is part of kobuki_core. It can be installed from deb package and from github. Type rosrun kobuki_ftdi create_udev_rules to install the missing UDEV rules. Do not forget to restart. Worked for me. BTW: Installing the UDEV rule makes /dev/kobuki available. Otherwise you may not see /dev/kobuki even when plugged in to USB.