turtlebot3_bringupでエラーが出る

masuko-shingo commented 3 years ago

目的

PCからJetsonnanoにssh通信でbringupを行い、turtlebot3を動かそうとした

現状

PCから

$roscore
$ssh jetsonnano@10.0.0.137

を実行し、Jetsonnnanoにssh通信

$roslaunch turtlebot3_bringup turtlebot3_robot.launch

結果

$roslaunch turtlebot3_bringup turtlebot3_robot.launch

... logging to /home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/roslaunch-jetsonnano-desktop-10612.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://10.0.0.137:34561/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://10.0.0.68:11311

process[turtlebot3_core-1]: started with pid [10621]
process[turtlebot3_lds-2]: started with pid [10622]
process[turtlebot3_diagnostics-3]: started with pid [10623]
[ERROR] [1626342467.757634459]: An exception was thrown: open: No such file or directory
[turtlebot3_lds-2] process has died [pid 10622, exit code 255, cmd /opt/ros/melodic/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/turtlebot3_lds-2.log].
log file: /home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/turtlebot3_lds-2*.log
[INFO] [1626342468.375278]: ROS Serial Python Node
[INFO] [1626342468.416968]: Connecting to /dev/ttyACM0 at 115200 baud
[ERROR] [1626342468.436630]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1626342471.450782]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1626342474.727178]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
^C[turtlebot3_diagnostics-3] killing on exit
[turtlebot3_core-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

masuko-shingo commented 3 years ago

https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/issues/38 を参考に、

$sudo chmod a+rw /dev/ttyACM0

を実行した後、再度bringup

結果

$roslaunch turtlebot3_bringup turtlebot3_robot.launch
... logging to /home/jetsonnano/.ros/log/09e74f06-e609-11eb-9d24-7c7635a4ab69/roslaunch-jetsonnano-desktop-10216.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://10.0.0.139:35613/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://10.0.0.68:11311

process[turtlebot3_core-1]: started with pid [10232]
process[turtlebot3_lds-2]: started with pid [10233]
process[turtlebot3_diagnostics-3]: started with pid [10234]
[ERROR] [1626421610.469440797]: An exception was thrown: open: Permission denied
[turtlebot3_lds-2] process has died [pid 10233, exit code 255, cmd /opt/ros/melodic/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/jetsonnano/.ros/log/09e74f06-e609-11eb-9d24-7c7635a4ab69/turtlebot3_lds-2.log].
log file: /home/jetsonnano/.ros/log/09e74f06-e609-11eb-9d24-7c7635a4ab69/turtlebot3_lds-2*.log
[INFO] [1626421611.363909]: ROS Serial Python Node
[INFO] [1626421611.407485]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1626421613.536439]: Requesting topics...
[INFO] [1626421613.823650]: Note: publish buffer size is 1024 bytes
[INFO] [1626421613.830447]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1626421613.845376]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1626421614.075565]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1626421614.091116]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1626421614.185780]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1626421614.200207]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1626421614.213947]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1626421614.226899]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1626421615.631526]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1626421615.668399]: Note: subscribe buffer size is 1024 bytes
[INFO] [1626421615.680326]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1626421615.711043]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1626421615.749682]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1626421615.782655]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1626421617.181258]: Setup TF on Odometry [odom]
[INFO] [1626421617.194231]: Setup TF on IMU [imu_link]
[INFO] [1626421617.205833]: Setup TF on MagneticField [mag_link]
[INFO] [1626421617.227938]: Setup TF on JointState [base_link]
[INFO] [1626421617.255025]: --------------------------
[INFO] [1626421617.268797]: Connected to OpenCR board!
[INFO] [1626421617.285493]: This core(v1.2.2) is compatible with TB3 Burger
[INFO] [1626421617.300717]: --------------------------
[INFO] [1626421617.315733]: Start Calibration of Gyro
[INFO] [1626421619.748298]: Calibration End

masuko-shingo commented 3 years ago

https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/issues/36 このサイトはkineticの環境だが、似たようなエラーメッセージだったので参考にした。実行しているコマンドがROBOTIS e-manual 14.8. ソフトウェアの更新 https://emanual.robotis.com/docs/en/platform/turtlebot3/faq/#faq のコマンドであったため、14.8. ソフトウェアの更新をそのまま行い、lidarのみのbringupを行った。

$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws/src/turtlebot3
$ sudo rm -r turtlebot3_description/ turtlebot3_teleop/ turtlebot3_navigation/ turtlebot3_slam/ turtlebot3_example/
$ cd ~/catkin_ws/
$ rm -rf build/ devel/
$ cd ~/catkin_ws && catkin_make -j1

結果

$roslaunch turtlebot3_bringup turtlebot3_lidar.launch 
... logging to /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/roslaunch-jetsonnano-desktop-18171.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://10.0.0.140:38345/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://10.0.0.68:11311

process[turtlebot3_lds-1]: started with pid [18184]
[ERROR] [1626431163.641726126]: An exception was thrown: open: Permission denied
[turtlebot3_lds-1] process has died [pid 18184, exit code 255, cmd /home/jetsonnano/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1.log].
log file: /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

yasuohayashibara commented 3 years ago

こちらも権限の問題ですね．メッセージの通り以下にエラーメッセージが残っていると思いますので，閲覧すると良いと思います．

/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1.log (はワイルドカード)

masuko-shingo commented 3 years ago

先生のご指摘どおりログファイルを参照しようとしたのですが、

$ cd /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69
$ ls
roslaunch-jetsonnano-desktop-15887.log  roslaunch-jetsonnano-desktop-18211.log  roslaunch-jetsonnano-desktop-18681.log
roslaunch-jetsonnano-desktop-16000.log  roslaunch-jetsonnano-desktop-18259.log  roslaunch-jetsonnano-desktop-18728.log
roslaunch-jetsonnano-desktop-18171.log  roslaunch-jetsonnano-desktop-18479.log  turtlebot3_core-1.log```
$ ls -a
.                                       roslaunch-jetsonnano-desktop-18171.log  roslaunch-jetsonnano-desktop-18681.log
..                                      roslaunch-jetsonnano-desktop-18211.log  roslaunch-jetsonnano-desktop-18728.log
roslaunch-jetsonnano-desktop-15887.log  roslaunch-jetsonnano-desktop-18259.log  turtlebot3_core-1.log
roslaunch-jetsonnano-desktop-16000.log  roslaunch-jetsonnano-desktop-18479.log

turtlebot3_lds-1*.logファイルが見つかりませんでした。とりあえず、ログファイルを閲覧しましたが、

$ cat roslaunch-jetsonnano-desktop-18171.log
[roslaunch][INFO] 2021-07-16 19:26:01,355: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2021-07-16 19:26:01,369: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2021-07-16 19:26:01,369: roslaunch starting with args ['/opt/ros/melodic/bin/roslaunch', 'turtlebot3_bringup', 'turtlebot3_lidar.launch']
[roslaunch][INFO] 2021-07-16 19:26:01,370: roslaunch env is {'LC_NUMERIC': 'ja_JP.UTF-8', 'ROS_DISTRO': 'melodic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '10.0.0.140', 'SSH_CLIENT': '10.0.0.68 43624 22', 'LOGNAME': 'jetsonnano', 'USER': 'jetsonnano', 'PATH': '/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'LC_PAPER': 'ja_JP.UTF-8', 'HOME': '/home/jetsonnano', 'CMAKE_PREFIX_PATH': '/home/jetsonnano/catkin_ws/devel:/opt/ros/melodic', 'LD_LIBRARY_PATH': '/home/jetsonnano/catkin_ws/devel/lib:/opt/ros/melodic/lib', 'LANG': 'en_US.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LC_MEASUREMENT': 'ja_JP.UTF-8', 'ROS_LOG_FILENAME': '/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/roslaunch-jetsonnano-desktop-18171.log', 'ROS_MASTER_URI': 'http://10.0.0.68:11311', 'TURTLEBOT3_MODEL': 'burger', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'ja_JP.UTF-8', 'PYTHONPATH': '/opt/ros/melodic/lib/python2.7/dist-packages', 'SHLVL': '1', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'XDG_DATA_DIRS': '/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PKG_CONFIG_PATH': '/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/jetsonnano/catkin_ws/src:/opt/ros/melodic/share', 'XDG_SESSION_ID': '7', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/melodic/bin/roslaunch', 'LC_IDENTIFICATION': 'ja_JP.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/jetsonnano/catkin_ws', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/jetsonnano/catkin_ws/devel/share/common-lisp', 'LC_TELEPHONE': 'ja_JP.UTF-8', 'LC_MONETARY': 'ja_JP.UTF-8', 'PWD': '/home/jetsonnano', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_PYTHON_VERSION': '2', 'ROS_VERSION': '1', 'LC_NAME': 'ja_JP.UTF-8', 'MAIL': '/var/mail/jetsonnano', 'LC_TIME': 'ja_JP.UTF-8', 'SSH_CONNECTION': '10.0.0.68 43624 10.0.0.140 22'}
[roslaunch][INFO] 2021-07-16 19:26:01,370: starting in server mode
[roslaunch.parent][INFO] 2021-07-16 19:26:01,370: starting roslaunch parent run
[roslaunch][INFO] 2021-07-16 19:26:01,371: loading roscore config file /opt/ros/melodic/etc/ros/roscore.xml
[roslaunch][INFO] 2021-07-16 19:26:03,060: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2021-07-16 19:26:03,061: loading config file /home/jetsonnano/catkin_ws/src/turtlebot3/turtlebot3_bringup/launch/turtlebot3_lidar.launch
[roslaunch][INFO] 2021-07-16 19:26:03,063: Added node of type [hls_lfcd_lds_driver/hlds_laser_publisher] in namespace [/]
[roslaunch][INFO] 2021-07-16 19:26:03,064: ... selected machine [] for node of type [hls_lfcd_lds_driver/hlds_laser_publisher]
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,067: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,068: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,068: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2021-07-16 19:26:03,069: starting parent XML-RPC server
[roslaunch.server][INFO] 2021-07-16 19:26:03,069: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2021-07-16 19:26:03,069: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2021-07-16 19:26:03,070: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2021-07-16 19:26:03,070: Started XML-RPC server [http://10.0.0.140:38345/]
[xmlrpc][INFO] 2021-07-16 19:26:03,071: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2021-07-16 19:26:03,084: started roslaunch server http://10.0.0.140:38345/
[roslaunch.parent][INFO] 2021-07-16 19:26:03,084: ... parent XML-RPC server started
[roslaunch][INFO] 2021-07-16 19:26:03,085: master.is_running[http://10.0.0.68:11311]
[roslaunch][INFO] 2021-07-16 19:26:03,342: master.is_running[http://10.0.0.68:11311]
[roslaunch][INFO] 2021-07-16 19:26:03,355: ROS_MASTER_URI=http://10.0.0.68:11311
[roslaunch][INFO] 2021-07-16 19:26:03,384: setting /roslaunch/uris/host_10_0_0_140__38345' to http://10.0.0.140:38345/
[roslaunch][INFO] 2021-07-16 19:26:03,393: load_parameters starting ...
[roslaunch][INFO] 2021-07-16 19:26:03,424: ... load_parameters complete
[roslaunch][INFO] 2021-07-16 19:26:03,424: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2021-07-16 19:26:03,425: ... preparing to launch node of type [hls_lfcd_lds_driver/hlds_laser_publisher]
[roslaunch][INFO] 2021-07-16 19:26:03,426: create_node_process: package[hls_lfcd_lds_driver] type[hlds_laser_publisher] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://10.0.0.68:11311]
[roslaunch][INFO] 2021-07-16 19:26:03,427: process[turtlebot3_lds-1]: env[{'LC_NUMERIC': 'ja_JP.UTF-8', 'ROS_DISTRO': 'melodic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '10.0.0.140', 'SSH_CLIENT': '10.0.0.68 43624 22', 'LOGNAME': 'jetsonnano', 'USER': 'jetsonnano', 'PATH': '/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'LC_PAPER': 'ja_JP.UTF-8', 'HOME': '/home/jetsonnano', 'CMAKE_PREFIX_PATH': '/home/jetsonnano/catkin_ws/devel:/opt/ros/melodic', 'ROS_LOG_FILENAME': '/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/roslaunch-jetsonnano-desktop-18171.log', 'LANG': 'en_US.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LC_MEASUREMENT': 'ja_JP.UTF-8', 'LD_LIBRARY_PATH': '/home/jetsonnano/catkin_ws/devel/lib:/opt/ros/melodic/lib', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'TURTLEBOT3_MODEL': 'burger', 'LC_MONETARY': 'ja_JP.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'ja_JP.UTF-8', 'PYTHONPATH': '/opt/ros/melodic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'XDG_DATA_DIRS': '/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PKG_CONFIG_PATH': '/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/jetsonnano/catkin_ws/src:/opt/ros/melodic/share', 'XDG_SESSION_ID': '7', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/melodic/bin/roslaunch', 'LC_IDENTIFICATION': 'ja_JP.UTF-8', 'SSH_CONNECTION': '10.0.0.68 43624 10.0.0.140 22', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/jetsonnano/catkin_ws', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/jetsonnano/catkin_ws/devel/share/common-lisp', 'LC_TELEPHONE': 'ja_JP.UTF-8', 'SHLVL': '1', 'PWD': '/home/jetsonnano', 'ROS_MASTER_URI': 'http://10.0.0.68:11311', 'ROS_PYTHON_VERSION': '2', 'ROS_VERSION': '1', 'LC_NAME': 'ja_JP.UTF-8', 'MAIL': '/var/mail/jetsonnano', 'LC_TIME': 'ja_JP.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'}]
[roslaunch][INFO] 2021-07-16 19:26:03,559: process[turtlebot3_lds-1]: args[[u'/home/jetsonnano/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher', u'__name:=turtlebot3_lds']]
[roslaunch][INFO] 2021-07-16 19:26:03,560: ... created process [turtlebot3_lds-1]
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,560: ProcessMonitor.register[turtlebot3_lds-1]
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,561: ProcessMonitor.register[turtlebot3_lds-1] complete
[roslaunch][INFO] 2021-07-16 19:26:03,561: ... registered process [turtlebot3_lds-1]
[roslaunch][INFO] 2021-07-16 19:26:03,561: process[turtlebot3_lds-1]: starting os process
[roslaunch][INFO] 2021-07-16 19:26:03,561: process[turtlebot3_lds-1]: start w/ args [[u'/home/jetsonnano/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher', u'__name:=turtlebot3_lds', u'__log:=/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1.log']]
[roslaunch][INFO] 2021-07-16 19:26:03,562: process[turtlebot3_lds-1]: cwd will be [/home/jetsonnano/.ros]
[roslaunch][INFO] 2021-07-16 19:26:03,574: process[turtlebot3_lds-1]: started with pid [18184]
[roslaunch][INFO] 2021-07-16 19:26:03,574: ... successfully launched [turtlebot3_lds-1]
[roslaunch][INFO] 2021-07-16 19:26:03,575: ... launch_nodes complete
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,575: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 548442747376)>
[roslaunch.parent][INFO] 2021-07-16 19:26:03,575: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2021-07-16 19:26:03,576: spin
[roslaunch][ERROR] 2021-07-16 19:26:04,082: [turtlebot3_lds-1] process has died [pid 18184, exit code 255, cmd /home/jetsonnano/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1.log].
log file: /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1*.log
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,085: ProcessMonitor.unregister[turtlebot3_lds-1] starting
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,087: ProcessMonitor.unregister[turtlebot3_lds-1] complete
[roslaunch][INFO] 2021-07-16 19:26:04,089: all processes on machine have died, roslaunch will exit
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,191: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 548442747376)>
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,196: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 548442747376)>: remaining procs are []
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,208: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,210: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2021-07-16 19:26:04,281: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2021-07-16 19:26:04,281: runner.stop()
[roslaunch][INFO] 2021-07-16 19:26:04,282: shutting down processing monitor...
[roslaunch][INFO] 2021-07-16 19:26:04,282: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 548442747376)>
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,282: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 548442747376)>
[roslaunch][INFO] 2021-07-16 19:26:04,283: ... shutting down processing monitor complete
[roslaunch][INFO] 2021-07-16 19:26:04,283: done
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,283: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 548442747376)>
[rospy.core][INFO] 2021-07-16 19:26:04,284: signal_shutdown [atexit]

エラー部分のメッセージはlaunchのコマンドを実行した際と同じだと思います。

$ find -type f turtlebot3_lds-1*.log
find: paths must precede expression: `turtlebot3_lds-1*.log'

findコマンドで探してみようと試しましたが、どこのディレクトリにあるのかわからず、パスの指定ができないという状況です。

yasuohayashibara commented 3 years ago

なるほど．ログが残っていないとすると，以下のドライバ自身の起動に失敗しているということですね．

hls_lfcd_lds_driver

このドライバで使用しているデバイス（おそらくLiDAR）へのアクセス権限が無いような気がします．ノードにlaunchファイルも含まれているので，単体でチェックしてみても良いかもしれません．

ここらへんはRaspberryPIでセットアップするときと同じだと思いますので，何か見逃しているドキュメントがあるかもしれません．個別に対応しても良いと思いますが，製品付属のマニュアルを見つけることができると，まとめて解決できると思います．

とりあえず，LiDARに関しては，以下に書いてあるような気がします． https://www.robotshop.com/media/files/pdf/robotis-360-laser-distance-sensor-lds-01-datasheet.pdf

open-rdc / turtlebot3_jetson_nano

turtlebot3_bringupでエラーが出る #2

目的

現状

結果

結果

結果