probablythomas
commented
4 weeks ago Hi! Thanks for using OtterROS.
What version of ROS2 are you using?
The log suggests an issue with the automatic bag command:
[ros2-7] ros2 bag record: error: argument -s/--storage: invalid choice: 'mcap' (choose from 'sqlite3', 'my_test_plugin'
[ERROR] [ros2-7]: process has died [pid 135740, exit code 2, cmd 'ros2 bag record -a -o otter_bag_2024_08_15T11_11_35 --storage mcap'].
It looks like you do not have the MCAP storage plugin installed. We no longer use the default sqlite3 format as the MCAP format can be immediately viewed in Foxglove Studio.
Can you try this command and then run again?
sudo apt-get install ros-$ROS_DISTRO-rosbag2-storage-mcap
Let us know if that works!
ros2 launch otter_ros otter_base_launch.py [INFO] [launch]: All log files can be found below /home/leojt/.ros/log/2024-08-15-11-11-35-248676-Y7000P-135727 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [otter_publisher-1]: process started with pid [135728] [INFO] [otter_subscriber-2]: process started with pid [135730] [INFO] [otter_tf2_broadcaster-3]: process started with pid [135732] [INFO] [static_transform_publisher-4]: process started with pid [135734] [INFO] [static_transform_publisher-5]: process started with pid [135736] [INFO] [static_transform_publisher-6]: process started with pid [135738] [INFO] [ros2-7]: process started with pid [135740] [static_transform_publisher-4] [WARN] [1723691495.376267241] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-5] [WARN] [1723691495.376743798] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-6] [WARN] [1723691495.377529273] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-4] [INFO] [1723691495.385315605] [static_transform_publisher_e4JUi3TFlNM9iBsn]: Spinning until stopped - publishing transform [static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-4] rotation: ('0.707107', '0.707107', '-0.000000', '-0.000000') [static_transform_publisher-4] from 'world' to 'world_ned' [static_transform_publisher-6] [INFO] [1723691495.385386961] [static_transform_publisher_RNthXfFDRBWdjkFT]: Spinning until stopped - publishing transform [static_transform_publisher-6] translation: ('-0.400000', '0.000000', '-0.500000') [static_transform_publisher-6] rotation: ('1.000000', '0.000000', '-0.000000', '-0.000000') [static_transform_publisher-6] from 'otter' to 'velodyne' [static_transform_publisher-5] [INFO] [1723691495.389684401] [static_transform_publisher_39zU6LM8HohSyvBf]: Spinning until stopped - publishing transform [static_transform_publisher-5] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-5] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-5] from 'otter' to 'ins' [ros2-7] usage: ros2 bag record [-h] [-a] [-e REGEX] [-x EXCLUDE] [ros2-7] [--include-unpublished-topics] [ros2-7] [--include-hidden-topics] [-o OUTPUT] [ros2-7] [-s {sqlite3,my_test_plugin}] [-f {s,a}] [ros2-7] [--no-discovery] [-p POLLING_INTERVAL] [ros2-7] [-b MAX_BAG_SIZE] [-d MAX_BAG_DURATION] [ros2-7] [--max-cache-size MAX_CACHE_SIZE] [ros2-7] [--compression-mode {none,file,message}] [ros2-7] [--compression-format {zstd,fake_comp}] [ros2-7] [--compression-queue-size COMPRESSION_QUEUE_SIZE] [ros2-7] [--compression-threads COMPRESSION_THREADS] [ros2-7] [--snapshot-mode] [--ignore-leaf-topics] [ros2-7] [--qos-profile-overrides-path QOS_PROFILE_OVERRIDES_PATH] [ros2-7] [--storage-preset-profile STORAGE_PRESET_PROFILE] [ros2-7] [--storage-config-file STORAGE_CONFIG_FILE] [ros2-7] [--start-paused] [--use-sim-time] [ros2-7] [--log-level {debug,info,warn,error,fatal}] [ros2-7] [topics ...] [ros2-7] ros2 bag record: error: argument -s/--storage: invalid choice: 'mcap' (choose from 'sqlite3', 'my_test_plugin') [ERROR] [ros2-7]: process has died [pid 135740, exit code 2, cmd 'ros2 bag record -a -o otter_bag_2024_08_15T11_11_35 --storage mcap']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[otter_publisher-1] Traceback (most recent call last): [otter_publisher-1] File "/home/leojt/otter_ws/install/otter_ros/lib/otter_ros/otter_publisher", line 33, in
[otter_publisher-1] sys.exit(load_entry_point('otter-ros==1.0.0', 'console_scripts', 'otter_publisher')())
[otter_publisher-1] File "/home/leojt/otter_ws/build/otter_ros/otter_ros/otter_publisher.py", line 176, in main
[otter_subscriber-2] Traceback (most recent call last): [otter_subscriber-2] File "/home/leojt/otter_ws/install/otter_ros/lib/otter_ros/otter_subscriber", line 33, in
[otter_subscriber-2] sys.exit(load_entry_point('otter-ros==1.0.0', 'console_scripts', 'otter_subscriber')())
[otter_subscriber-2] File "/home/leojt/otter_ws/build/otter_ros/otter_ros/otter_subscriber.py", line 133, in main
[otter_subscriber-2] otter_sub = OtterSubscriber()
[otter_subscriber-2] File "/home/leojt/otter_ws/build/otter_ros/otter_ros/otter_subscriber.py", line 47, in init
[otter_subscriber-2] self.stream = self.socket_connect()
[otter_subscriber-2] File "/home/leojt/otter_ws/build/otter_ros/otter_ros/otter_subscriber.py", line 55, in socket_connect
[otter_subscriber-2] stream.connect((self.get_parameter('obs_ip_address').value,
[otter_subscriber-2] KeyboardInterrupt
[otter_publisher-1] otter = OtterPublisher()
[otter_publisher-1] File "/home/leojt/otter_ws/build/otter_ros/otter_ros/otter_publisher.py", line 54, in init
[otter_publisher-1] self.stream = self.socket_connect()
[otter_publisher-1] File "/home/leojt/otter_ws/build/otter_ros/otter_ros/otter_publisher.py", line 63, in socket_connect
[otter_publisher-1] stream.connect((self.get_parameter('obs_ip_address').value,
[otter_publisher-1] KeyboardInterrupt
[otter_tf2_broadcaster-3] Traceback (most recent call last):
[otter_tf2_broadcaster-3] File "/home/leojt/otter_ws/install/otter_ros/lib/otter_ros/otter_tf2_broadcaster", line 33, in
[otter_tf2_broadcaster-3] sys.exit(load_entry_point('otter-ros==1.0.0', 'console_scripts', 'otter_tf2_broadcaster')())
[otter_tf2_broadcaster-3] File "/home/leojt/otter_ws/build/otter_ros/otter_ros/otter_tf2_broadcaster.py", line 156, in main
[otter_tf2_broadcaster-3] rclpy.shutdown()
[otter_tf2_broadcaster-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 126, in shutdown
[otter_tf2_broadcaster-3] _shutdown(context=context)
[otter_tf2_broadcaster-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
[otter_tf2_broadcaster-3] return context.shutdown()
[otter_tf2_broadcaster-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
[otter_tf2_broadcaster-3] self.context.shutdown()
[otter_tf2_broadcaster-3] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241
[ERROR] [otter_publisher-1]: process has died [pid 135728, exit code -2, cmd '/home/leojt/otter_ws/install/otter_ros/lib/otter_ros/otter_publisher --ros-args -r node:=otter_publisher --params-file /home/leojt/otter_ws/install/otter_ros/share/otter_ros/config/otterUSV.yaml'].
[ERROR] [otter_subscriber-2]: process has died [pid 135730, exit code -2, cmd '/home/leojt/otter_ws/install/otter_ros/lib/otter_ros/otter_subscriber --ros-args -r __node:=otter_subscriber --params-file /home/leojt/otter_ws/install/otter_ros/share/otter_ros/config/otterUSV.yaml'].
[INFO] [static_transform_publisher-6]: process has finished cleanly [pid 135738]
[INFO] [static_transform_publisher-4]: process has finished cleanly [pid 135734]
[INFO] [static_transform_publisher-5]: process has finished cleanly [pid 135736]
[ERROR] [otter_tf2_broadcaster-3]: process has died [pid 135732, exit code 1, cmd '/home/leojt/otter_ws/install/otter_ros/lib/otter_ros/otter_tf2_broadcaster --ros-args -r __node:=otter_tf2_broadcaster'].