Using Ctrl+C on an Embedded Board can cause re-connection problem

sonictl commented 8 years ago

I cannot connect the Arduino board after I used Ctrl+C to terminate the ros_arduino_python/arduino.launch I get:

Connecting to Arduino on port /dev/ARDUINOBASE ... Serial Exception: (<class 'serial.serialutil.SerialException'>, SerialException(), <traceback object at 0xb5f57a80>) Traceback follows: Traceback (most recent call last): File "/root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/arduino_driver.py", line 73, in connect raise SerialException SerialException Cannot connect to Arduino!

Hardware List: UP-level computer: OrangePi running lubuntu 14.04 Low-level board: Arduino Mega 2560 with CH340(usb-serial converter)

pirobot commented 8 years ago

Do you have the same issue when using the master branch of the ros_arduino_bridge package? I ask because I have made many changes to that branch to improve the serial connection and I have not yet merged those changes with the indigo-devel branch.

sonictl commented 8 years ago

I do have the same issue when using master branch. maybe you need to have a Raspberry-like board and have a test. THX!

pirobot commented 8 years ago

Unfortunately I don't have a Raspberry-like board. You might try posting your issue to the Home Brew Robotics forum since many people in the club use RPi platforms with their robots.

sonictl commented 8 years ago

I noted that I'm also using an other serial_based hardware ROS driver which is for neato_xv11 LiDAR. It is written by C++ and works well. It did the similar task as ros_arduino_bridge, sending and receiving data via serial port. Maybe we can try to write a C++ version for ros_arduino_bridge. What do you think? ;) ref: https://github.com/rohbotics/xv_11_laser_driver

pirobot commented 8 years ago

Yeah, I noticed the same good behavior with the Arduino IDE a while back which is also written in C++. I just double-checked the arduino_python.py node in the master branch and for some unknown reason, I had commented out the line that closes the serial port on shutdown. I just un-commented that line and pushed the update so please do a git pull and see if that fixes the problem.

sonictl commented 8 years ago

I met the errors below when I was trying to launch the ros_arduino_python/launch/arduino.launch file.

new master process[master]: started with pid [2677] ROS_MASTER_URI=http://pirobot:11311 setting /run_id to 7f6362c4-afea-11e6-b06c-28f3667b4dc0 process[rosout-1]: started with pid [2690] started core service [/rosout] process[arduino-2]: started with pid [2694] Traceback (most recent call last): File "/root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/nodes/arduino_node.py", line 24, in from ros_arduino_python.arduino_sensors import File "/root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/arduino_sensors.py", line 26, in from ros_arduino_python.diagnostics import DiagnosticsUpdater File "/root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/diagnostics.py", line 23, in import diagnostic_updater ImportError: No module named diagnostic_updater [arduino-2] process has died [pid 2694, exit code 1, cmd /root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/nodes/arduino_node.py name:=arduino log:=/root/.ros/log/7f6362c4-afea-11e6-b06c-28f3667b4dc0/arduino-2.log]. log file: /root/.ros/log/7f6362c4-afea-11e6-b06c-28f3667b4dc0/arduino-2.log ^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

After I git clone the diagnostics package and catkin_make this package, I met the errors below when I was trying to launch the ros_arduino_python/launch/arduino.launch file.

NODES / arduino (ros_arduino_python/arduino_node.py) auto-starting new master process[master]: started with pid [3034] ROS_MASTER_URI=http://pirobot:11311 setting /run_id to 256dd7de-afec-11e6-b06c-28f3667b4dc0 process[rosout-1]: started with pid [3047] started core service [/rosout] process[arduino-2]: started with pid [3063] Traceback (most recent call last): File "/root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/nodes/arduino_node.py", line 30, in from ros_arduino_python.follow_controller import FollowController File "/root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/follow_controller.py", line 32, in from control_msgs.msg import FollowJointTrajectoryAction ImportError: No module named control_msgs.msg [arduino-2] process has died [pid 3063, exit code 1, cmd /root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/nodes/arduino_node.py name:=arduino log:=/root/.ros/log/256dd7de-afec-11e6-b06c-28f3667b4dc0/arduino-2.log]. log file: /root/.ros/log/256dd7de-afec-11e6-b06c-28f3667b4dc0/arduino-2*.log

pirobot commented 8 years ago

Please install the ROS diagnostic_updater and control_msgs packages as follows:

sudo apt-get install ros-indigo-diagnostic-updater ros-indigo-control-msgs

sonictl commented 8 years ago

The reconnection probelm is solved when I use the master branch. Thank you very much!!! I guess you may need to fix the indigo-devel branch in case the master branch is unstable and may cause other problems.

pirobot commented 8 years ago

Thanks for the confirmation. I have no idea why that line was commented out at some point. I have added a few lines to the indigo-devel branch of arduino_python.py to close the serial port on exiting. Please give that a "git pull" and try it out on your RPi when you have a chance. Thanks!

sonictl commented 8 years ago

root@piRobot:~/catkin_ws# roslaunch ros_arduino_python arduino.launch logging to /root/.ros/log/43f146e6-b5e6-11e6-b06c-28f3667b4dc0/roslaunch-piRobot-6546.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://piRobot:42719/

SUMMARY = = = = = = = =

PARAMETERS

/arduino/Kd: 12

/arduino/Ki: 0

/arduino/Ko: 50

/arduino/Kp: 10

/arduino/accel_limit: 1.0

/arduino/base_controller_rate: 10

/arduino/base_frame: base_link

/arduino/baud: 57600

/arduino/encoder_resolution: 2200

/arduino/gear_reduction: 1.0

/arduino/motors_reversed: False

/arduino/port: /dev/ARDUINOBASE

/arduino/rate: 50

/arduino/sensors/arduino_led/direction: output

/arduino/sensors/arduino_led/pin: 13

/arduino/sensors/arduino_led/rate: 5

/arduino/sensors/arduino_led/type: Digital

/arduino/sensorstate_rate: 10

/arduino/timeout: 0.1

/arduino/use_base_controller: True

/arduino/wheel_diameter: 0.078

/arduino/wheel_track: 0.36

/rosdistro: indigo

/rosversion: 1.11.20

NODES / arduino (ros_arduino_python/arduino_node.py)

auto-starting new master process[master]: started with pid [6558] ROS_MASTER_URI=http://piRobot:11311

setting /run_id to 43f146e6-b5e6-11e6-b06c-28f3667b4dc0 process[rosout-1]: started with pid [6571] started core service [/rosout] process[arduino-2]: started with pid [6583] Connecting to Arduino on port /dev/ARDUINOBASE ... Serial Exception: (<class 'serial.serialutil.SerialException'>, SerialException(), <traceback object at 0xb5f309b8>) Traceback follows: Traceback (most recent call last): File "/root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/arduino_driver.py", line 73, in connect raise SerialException SerialException Cannot connect to Arduino! [arduino-2] process has died [pid 6583, exit code 1, cmd /root/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/nodes/arduino_node.py name:=arduino log:=/root/.ros/log/43f146e6-b5e6-11e6-b06c-28f3667b4dc0/arduino-2.log]. log file: /root/.ros/log/43f146e6-b5e6-11e6-b06c-28f3667b4dc0/arduino-2*.log

pirobot commented 8 years ago

Thanks for checking. Would you mind running the master branch for awhile? Apparently that branch fixes the serial port problem for your RPi and having someone use the branch more regularly would be quite helpful. Once I know the branch doesn't cause you any other problems, I'll push the changes to indigo-dev.

sonictl commented 8 years ago

OK, I'll use that. Thx! I think it's necessary to show the users that the pre-requisites such as ros-indigo-diagnostic-updater and ros-indigo-control-msgs need to be installed before using master-branch.

pirobot commented 8 years ago

Good idea. I have added the pre-requisites under the System Requirements section.

hbrobotics / ros_arduino_bridge

Using Ctrl+C on an Embedded Board can cause re-connection problem #31

I met the errors below when I was trying to launch the ros_arduino_python/launch/arduino.launch file.

After I git clone the diagnostics package and catkin_make this package, I met the errors below when I was trying to launch the ros_arduino_python/launch/arduino.launch file.