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yujinrobot / kobuki-x

Custom Kobuki Implementations
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robot dies when concert pc got disconnected #34

Open jihoonl opened 10 years ago

jihoonl commented 10 years ago

Robot died somehow.

[INFO] [WallTime: 1404882271.587753] Gateway : discovered hub via zeroconf [192.168.10.151:6380]
[ INFO] [1404882272.107421591]: 1 observations discarded (first one with position 0 in the list) for being 9.544150 seconds old ( > 1.250000)
[ INFO] [1404882272.125934400]: 2 observations discarded (first one with position 0 in the list) for being 9.562624 seconds old ( > 1.250000)
[INFO] [WallTime: 1404882272.590842] Gateway : discovered hub via zeroconf [192.168.10.151:6380]
[INFO] [WallTime: 1404882273.594059] Gateway : discovered hub via zeroconf [192.168.10.151:6380]
[ INFO] [1404882274.098060090]: Zeroconf: service was removed [Cafe Concert][_ros-multimaster-hub._tcp][local][3][ipv4]
[ WARN] [1404882274.623097492]: Costmap2DROS transform timeout. Current time: 1404882274.6229, global_pose stamp: 1404882274.0721, tolerance: 0.5000
[ WARN] [1404882274.623321610]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882275.627544566]: Costmap2DROS transform timeout. Current time: 1404882275.6274, global_pose stamp: 1404882274.0721, tolerance: 0.5000
[ WARN] [1404882275.627956189]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882276.722604514]: Costmap2DROS transform timeout. Current time: 1404882276.7225, global_pose stamp: 1404882274.0721, tolerance: 0.5000
[ WARN] [1404882276.722722121]: Could not get robot pose, cancelling reconfiguration
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[ INFO] [1404882277.324374690]: Bond broken, exiting
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[ INFO] [1404882277.401930201]: Bond broken, exiting
::connect error = 101
[zach/navigation_velocity_smoother-14] process has finished cleanly
log file: /home/yujin/.ros/log/2d955cbe-0726-11e4-88b6-240a641bebf3/zach-navigation_velocity_smoother-14*.log
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[zach/special_tasks_velocity_smoother-12] process has finished cleanly
log file: /home/yujin/.ros/log/2d955cbe-0726-11e4-88b6-240a641bebf3/zach-special_tasks_velocity_smoother-12*.log
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[ WARN] [1404882277.722708411]: Costmap2DROS transform timeout. Current time: 1404882277.7226, global_pose stamp: 1404882274.0721, tolerance: 0.5000
[ WARN] [1404882277.722846529]: Could not get robot pose, cancelling reconfiguration
::connect error = 101
[ INFO] [1404882277.728363459]: Bond broken, exiting
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[mobile_base-9] process has finished cleanly
log file: /home/yujin/.ros/log/2d955cbe-0726-11e4-88b6-240a641bebf3/mobile_base-9*.log
::connect error = 101
[ INFO] [1404882277.827701849]: Bond broken, exiting
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[ INFO] [1404882277.859844325]: Kobuki : waiting for kobuki thread to finish [/mobile_base].
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[bumper2pointcloud-11] process has finished cleanly
log file: /home/yujin/.ros/log/2d955cbe-0726-11e4-88b6-240a641bebf3/bumper2pointcloud-11*.log
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[ INFO] [1404882277.953576282]: Bond broken, exiting
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[ INFO] [1404882278.033286864]: Bond broken, exiting
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[ INFO] [1404882278.129375743]: Bond broken, exiting
[zach/depthimage_to_laserscan-6] process has finished cleanly
log file: /home/yujin/.ros/log/2d955cbe-0726-11e4-88b6-240a641bebf3/zach-depthimage_to_laserscan-6*.log
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
::connect error = 101
[zach/dock_drive-16] process has finished cleanly
log file: /home/yujin/.ros/log/2d955cbe-0726-11e4-88b6-240a641bebf3/zach-dock_drive-16*.log
[cmd_vel_mux-10] process has finished cleanly
log file: /home/yujin/.ros/log/2d955cbe-0726-11e4-88b6-240a641bebf3/cmd_vel_mux-10*.log
[ WARN] [1404882278.723139116]: Costmap2DROS transform timeout. Current time: 1404882278.7230, global_pose stamp: 1404882274.0721, tolerance: 0.5000
[ WARN] [1404882278.723293891]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882279.723305092]: Costmap2DROS transform timeout. Current time: 1404882279.7232, global_pose stamp: 1404882274.0721, tolerance: 0.5000
[ WARN] [1404882279.723562112]: Could not get robot pose, cancelling reconfiguration
[zach/camera/camera_nodelet_manager-1] process has died [pid 11550, exit code -11, cmd /opt/ros/hydro/lib/nodelet/nodelet manager map:=/map table_pose_list:=/annotation/tables map_metadata:=/map_metadata marker_pose_list:=/annotation/ar_markers __name:=camera_nodelet_manager __log:=/home/yujin/.ros/log/2d955cbe-0726-11e4-88b6-240a641bebf3/zach-camera-camera_nodelet_manager-1.log].
log file: /home/yujin/.ros/log/2d955cbe-0726-11e4-88b6-240a641bebf3/zach-camera-camera_nodelet_manager-1*.log
[ WARN] [1404882280.723355224]: Costmap2DROS transform timeout. Current time: 1404882280.7232, global_pose stamp: 1404882275.0596, tolerance: 0.5000
[ WARN] [1404882280.723699139]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882281.727819065]: Costmap2DROS transform timeout. Current time: 1404882281.7277, global_pose stamp: 1404882277.8546, tolerance: 0.5000
[ WARN] [1404882281.728953429]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882282.770866405]: Costmap2DROS transform timeout. Current time: 1404882282.7707, global_pose stamp: 1404882277.8546, tolerance: 0.5000
[ WARN] [1404882282.823331741]: Could not get robot pose, cancelling reconfiguration
[ INFO] [1404882283.206870339]: Zeroconf: discovered new service [Cafe Concert][_ros-multimaster-hub._tcp][local][3][ipv4]
[ INFO] [1404882283.280028515]: Button pressed
Simple mixer control 'PCM',0
  Capabilities: pvolume penum
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 255
  Mono:
  Front Left: Playback 255 [100%] [0.00dB]
  Front Right: Playback 255 [100%] [0.00dB]
Simple mixer control 'Master',0
  Capabilities: pvolume pvolume-joined pswitch pswitch-joined penum
  Playback channels: Mono
  Limits: Playback 0 - 74
  Mono: Playback 74 [100%] [0.00dB] [on]
Playing WAVE '/home/yujin/turtlebot/waiterbot/src/kobuki-x/waiterbot_suite/waiterbot_ctrl_cafe/resources/legacy_sound/byyourcommand.wav' : Signed 16 bit Little Endian, Rate 44100 Hz, Stereo
[ WARN] [1404882283.823368609]: Costmap2DROS transform timeout. Current time: 1404882283.8232, global_pose stamp: 1404882277.8428, tolerance: 0.5000
[ WARN] [1404882283.823535713]: Could not get robot pose, cancelling reconfiguration
[ INFO] [1404882284.099854093]: Zeroconf: resolved service [Cafe Concert][_ros-multimaster-hub._tcp][local][3][ipv4][192.168.10.151:6380]
[INFO] [WallTime: 1404882284.444013] Gateway : discovered hub via zeroconf [192.168.10.151:6380]
[ WARN] [1404882284.827679198]: Costmap2DROS transform timeout. Current time: 1404882284.8275, global_pose stamp: 1404882277.8546, tolerance: 0.5000
[ WARN] [1404882284.827828236]: Could not get robot pose, cancelling reconfiguration
[ INFO] [1404882285.256441132]: Target table 1: rad = 0.804482, pose = 2.32, 2.25, -0.90
[ INFO] [1404882285.256614354]: Global navigation to table...
[ WARN] [1404882285.260497309]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1404882285.260758105]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1404882285.860397990]: Costmap2DROS transform timeout. Current time: 1404882285.8603, global_pose stamp: 1404882277.8428, tolerance: 0.5000
[ WARN] [1404882285.922871261]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882286.261065402]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1404882286.922690069]: Costmap2DROS transform timeout. Current time: 1404882286.9225, global_pose stamp: 1404882277.8428, tolerance: 0.5000
[ WARN] [1404882286.923386695]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882287.260986628]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1404882287.923331524]: Costmap2DROS transform timeout. Current time: 1404882287.9232, global_pose stamp: 1404882277.8428, tolerance: 0.5000
[ WARN] [1404882287.923580073]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882288.261207192]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1404882288.926920966]: Costmap2DROS transform timeout. Current time: 1404882288.9268, global_pose stamp: 1404882277.8546, tolerance: 0.5000
[ WARN] [1404882288.927487437]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882289.260922751]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1404882289.926967747]: Costmap2DROS transform timeout. Current time: 1404882289.9268, global_pose stamp: 1404882277.8546, tolerance: 0.5000
[ WARN] [1404882290.023545545]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882290.261009176]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1404882290.460560687]: Clearing costmap to unstuck robot.
[ERROR] [1404882290.461432471]: Cannot clear map because pose cannot be retrieved
[ERROR] [1404882290.461867763]: Cannot clear map because pose cannot be retrieved
[ WARN] [1404882290.970791813]: Costmap2DROS transform timeout. Current time: 1404882290.9706, global_pose stamp: 1404882277.8546, tolerance: 0.5000
[ WARN] [1404882291.027119505]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882291.261114258]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1404882291.460513302]: Clearing costmap to unstuck robot.
[ERROR] [1404882291.460768428]: Cannot clear map because pose cannot be retrieved
[ERROR] [1404882291.461200368]: Cannot clear map because pose cannot be retrieved
[ WARN] [1404882291.970872341]: Costmap2DROS transform timeout. Current time: 1404882291.9707, global_pose stamp: 1404882277.8546, tolerance: 0.5000
[ WARN] [1404882292.027344842]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882292.261190515]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1404882292.460511352]: Clearing costmap to unstuck robot.
[ERROR] [1404882292.461607947]: Cannot clear map because pose cannot be retrieved
[ERROR] [1404882292.461940838]: Cannot clear map because pose cannot be retrieved
[ WARN] [1404882293.022660083]: Costmap2DROS transform timeout. Current time: 1404882293.0225, global_pose stamp: 1404882277.8428, tolerance: 0.5000
[ WARN] [1404882293.122779001]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1404882293.261122723]: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1404882293.460540343]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
bit-pirate commented 8 years ago

This might be related to https://github.com/ros/ros_comm/issues/109.

msy22 commented 4 years ago

Is there a resolution to this issue? I've experienced the exact same error message on a different robot (Clearpath Jackal), also while using ROS with the move_base library.

Tortes commented 4 years ago

Need help, I meet the same error code while using amcl package. It returns ::connect error = 101.

Tortes commented 4 years ago

Need help, I meet the same error code while using amcl package. It returns ::connect error = 101.

Solved, 101 is the socket error code, please check the ROSIP of client/server.