Closed alexandru-oana closed 3 years ago
I've opened the /dev/kobuki in minicom in other terminal and then killed it, basically i left the resource locked. The native app throws an error as it should:
terminate called after throwing an instance of 'ecl::StandardException'
what():
Location : /kobuki/src/kobuki_core/src/driver/kobuki.cpp:134
: /kobuki/src/ecl_core/ecl_devices/src/lib/serial_pos.cpp:156
Flag : Could not open the requested object.
Detail : Device is already locked. Try 'lsof | grep /dev/kobuki' to find other processes that currently have the port open (if the device is a symbolic link you may need to replace the device name with the device that it is pointing to) [posix error in case it is something else: 11
Aborted (core dumped)
But i could start the ros2 node without any issues. and it even says: Connected. ( but of course it doesn't do anything to the wheels ). I didn't looked, yet, into the source code of the ros2 node to what is connecting to.
I'm using foxy and i have some troubles when trying to move the robot.
If i use like this it as a ros2 node, and press the keys as instructions recommend, the wheels are not moving:
What is strange, is that, if i check: ros2 topic echo /cmd_vel i get the x/y/z altered accordingly to what keys i've pressed in the other screen were ros2 node was running. But, as i've said, the wheels are not actually moving.
The wheels are moving only with the native app:
Any thoughts ?