Hello Tork-A, I am attempting to use this project with a Create 2, and RPLidar A1. When i attempt to launch the project inside the Create 2, I receive and error about not being able to bind to ports. I suspect it has something to do with the device ID (Your project is Create 1 / RPLidar A2, mine is Create 2 / RPLidar A1). I have tried chmod 666 /dev/ttyUSB0 (also ttyUSB1). I am using the Ubiquity Robots image which is Xenial 16.04. The cable is plugged into the Create 2, and the RPLidar A1 is spinning.

Below is the output from PuTTY:

=~=~=~=~=~=~=~=~=~=~=~= PuTTY log 2021.07.25 11:19:31 =~=~=~=~=~=~=~=~=~=~=~= login as: ubuntu ubuntu@192.168.0.18's password: Welcome to Ubuntu 16.04.7 LTS (GNU/Linux 5.4.51-v7+ armv7l)

Welcome to the Ubiquity Robotics Raspberry Pi Image Learn more: https://learn.ubiquityrobotics.com Like our image? Support us on PayPal: tips@ubiquityrobotics.com

Wifi can be managed with pifi (pifi --help for more info)

435 packages can be updated. 140 updates are security updates.

Last login: Sun Jul 25 11:14:11 2021 from 192.168.0.13

]0;ubuntu@ubiquityrobot: ~ubuntu@ubiquityrobot:~$ exitroslaunch roomblock_bringup roomblock.launch [C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[18Pexport ROS_IP=192.168.0.18 ]0;ubuntu@ubiquityrobot: ~ubuntu@ubiquityrobot:~$ export ROS_IP=192.168.0.18it[Kroslaunch roomblock_bringup roomblock.launch ... logging to /home/ubuntu/.ros/log/722f5768-d0dc-11e5-a976-b827ebcae3b7/roslaunch-ubiquityrobot-4057.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. ]2;/opt/ros/kinetic/share/roomblock_bringup/launch/roomblock.launch [93mxacro: Traditional processing is deprecated. Switch to --inorder processing![0m [93mTo check for compatibility of your document, use option --check-order.[0m [93mFor more infos, see http://wiki.ros.org/xacro#Processing_Order[0m [93mdeprecated: xacro tags should be prepended with 'xacro' xml namespace.[0m Use the following script to fix incorrect usage: find . -iname "*.xacro" | xargs sed -i 's#<([/]\?)(if|unless|include|arg|property|macro|insert_block)#<\1xacro:\2#g' when processing file: /opt/ros/kinetic/share/roomblock_description/robots/roomblock.urdf.xacro

[93mxacro.py is deprecated; please use xacro instead[0m [1mstarted roslaunch server http://ubiquityrobot.local:39771/[0m

SUMMARY

PARAMETERS

/raspicam_node/camera_frame_id: raspicam
/raspicam_node/camera_info_url: package://raspica...
/raspicam_node/framerate: 30
/raspicam_node/hFlip: True
/raspicam_node/height: 960
/raspicam_node/vFlip: True
/raspicam_node/width: 1280
/robot_description: <?xml version="1....
/robot_pose_ekf/freq: 10.0
/robot_pose_ekf/imu_used: False
/robot_pose_ekf/odom_used: True
/robot_pose_ekf/output_frame: odom
/robot_pose_ekf/publish_tf: True
/robot_pose_ekf/sensor_timeout: 1.0
/robot_pose_ekf/vo_used: False
/robot_state_publisher/publish_frequency: 5.0
/rosdistro: kinetic
/rosversion: 1.12.16
/rplidarNode/angle_compensate: True
/rplidarNode/frame_id: laser
/rplidarNode/inverted: False
/rplidarNode/serial_baudrate: 115200
/rplidarNode/serial_port: /dev/rplidar
/turtlebot_node/bonus: False
/turtlebot_node/has_gyro: False
/turtlebot_node/operation_mode: 2
/turtlebot_node/port: /dev/roomba
/turtlebot_node/robot_type: roomba
/turtlebot_node/update_rate: 30.0

NODES / raspicam_node (raspicam_node/raspicam_node) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) robot_state_publisher (robot_state_publisher/robot_state_publisher) rplidarNode (rplidar_ros/rplidarNode) turtlebot_node (create_node/turtlebot_node.py)

[1mROS_MASTER_URI=http://ubiquityrobot.local:11311[0m ]2;/opt/ros/kinetic/share/roomblock_bringup/launch/roomblock.launch http://ubiquityrobot.local:11311 [1mprocess[robot_state_publisher-1]: started with pid [4077][0m [1mprocess[rplidarNode-2]: started with pid [4078][0m [1mprocess[turtlebot_node-3]: started with pid [4079][0m [1mprocess[robot_pose_ekf-4]: started with pid [4081][0m [1mprocess[raspicam_node-5]: started with pid [4103][0m [31m[ERROR] [1627230001.823615241]: Error, cannot bind to the specified serial port /dev/rplidar.[0m [31m[rplidarNode-2] process has died [pid 4078, exit code 255, cmd /opt/ros/kinetic/lib/rplidar_ros/rplidarNode name:=rplidarNode log:=/home/ubuntu/.ros/log/722f5768-d0dc-11e5-a976-b827ebcae3b7/rplidarNode-2.log]. log file: /home/ubuntu/.ros/log/722f5768-d0dc-11e5-a976-b827ebcae3b7/rplidarNode-2*.log[0m [31m[ERROR] [1627230008.233972]: Failed to open port /dev/roomba. Error: Please make sure the Create cable is plugged into the computer.

[0m^C[raspicam_node-5] killing on exit [robot_pose_ekf-4] killing on exit [turtlebot_node-3] killing on exit [robot_state_publisher-1] killing on exit [31m[ERROR] [1627230010.009087]: Failed to contact device with error: ['NoneType' object has no attribute 'start']. Please check that the Create is powered on and that the connector is plugged into the Create. [0mshutting down processing monitor... ... shutting down processing monitor complete [1mdone[0m ]0;ubuntu@ubiquityrobot: ~ubuntu@ubiquityrobot:~$ exit logout

tork-a / roomblock

Create2 / RPLidar 1A - Error, cannot bind to the specified serial port /dev/rplidar #18

SUMMARY