Quick start - cannot find module 'express'

Following ROSbot - quick start | Husarion

After the following line, i get the following error: Error: Cannot find module ‘express’

husarion@husarion:~$ roslaunch route_admin_panel demo_rosbot_mbed_fw.launch
… logging to /home/husarion/.ros/log/4a9bf798-7590-11eb-ad90-409f384ed2fb/roslaunch-husarion-2717.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://husarion:39145/

SUMMARY

CLEAR PARAMETERS

  • /rosbot_ekf/

PARAMETERS

  • /gmapping_node/angularUpdate: 0.1
  • /gmapping_node/base_frame: base_link
  • /gmapping_node/delta: 0.01
  • /gmapping_node/linearUpdate: 0.1
  • /gmapping_node/map_update_interval: 1
  • /gmapping_node/maxUrange: 25
  • /gmapping_node/odom_frame: odom
  • /gmapping_node/particles: 100
  • /gmapping_node/temporalUpdate: -1
  • /gmapping_node/xmax: 5
  • /gmapping_node/xmin: -5
  • /gmapping_node/ymax: 5
  • /gmapping_node/ymin: -5
  • /map_to_img/child_frame: /base_link
  • /map_to_img/draw_robot: True
  • /map_to_img/parent_frame: /map
  • /map_to_img/publish_full_map: True
  • /map_to_img/publish_map_tile: False
  • /map_to_img/tile_height: 480
  • /map_to_img/tile_width: 640
  • /move_base/TrajectoryPlannerROS/acc_lim_Y: 1.5
  • /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
  • /move_base/TrajectoryPlannerROS/acc_lim_x: 1.5
  • /move_base/TrajectoryPlannerROS/gdist_scale: 0.2
  • /move_base/TrajectoryPlannerROS/holonomic_robot: False
  • /move_base/TrajectoryPlannerROS/max_vel_theta: 2.5
  • /move_base/TrajectoryPlannerROS/max_vel_x: 0.1
  • /move_base/TrajectoryPlannerROS/meter_scoring: True
  • /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.25
  • /move_base/TrajectoryPlannerROS/min_vel_theta: -2.5
  • /move_base/TrajectoryPlannerROS/min_vel_x: 0.01
  • /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
  • /move_base/TrajectoryPlannerROS/pdist_scale: 0.4
  • /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.1
  • /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
  • /move_base/controller_frequency: 10.0
  • /move_base/global_costmap/always_send_full_costmap: True
  • /move_base/global_costmap/footprint: [[0.12, 0.14], [0…
  • /move_base/global_costmap/global_frame: map
  • /move_base/global_costmap/height: 15
  • /move_base/global_costmap/inflation_radius: 2.5
  • /move_base/global_costmap/laser_scan_sensor/clearing: True
  • /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/global_costmap/laser_scan_sensor/marking: True
  • /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/global_costmap/laser_scan_sensor/topic: scan
  • /move_base/global_costmap/map_topic: /map
  • /move_base/global_costmap/observation_sources: laser_scan_sensor
  • /move_base/global_costmap/obstacle_range: 6.0
  • /move_base/global_costmap/origin_x: -7.5
  • /move_base/global_costmap/origin_y: -7.5
  • /move_base/global_costmap/publish_frequency: 2.5
  • /move_base/global_costmap/raytrace_range: 8.5
  • /move_base/global_costmap/resolution: 0.01
  • /move_base/global_costmap/robot_base_frame: base_link
  • /move_base/global_costmap/rolling_window: True
  • /move_base/global_costmap/static_map: False
  • /move_base/global_costmap/subscribe_to_updates: True
  • /move_base/global_costmap/transform_tolerance: 0.5
  • /move_base/global_costmap/update_frequency: 2.5
  • /move_base/global_costmap/width: 15
  • /move_base/local_costmap/always_send_full_costmap: True
  • /move_base/local_costmap/footprint: [[0.12, 0.14], [0…
  • /move_base/local_costmap/global_frame: map
  • /move_base/local_costmap/height: 3
  • /move_base/local_costmap/inflation_radius: 1.0
  • /move_base/local_costmap/laser_scan_sensor/clearing: True
  • /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/local_costmap/laser_scan_sensor/marking: True
  • /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/local_costmap/laser_scan_sensor/topic: scan
  • /move_base/local_costmap/map_topic: /map
  • /move_base/local_costmap/observation_sources: laser_scan_sensor
  • /move_base/local_costmap/obstacle_range: 6.0
  • /move_base/local_costmap/origin_x: -1.5
  • /move_base/local_costmap/origin_y: -1.5
  • /move_base/local_costmap/publish_frequency: 5
  • /move_base/local_costmap/raytrace_range: 8.5
  • /move_base/local_costmap/resolution: 0.01
  • /move_base/local_costmap/robot_base_frame: base_link
  • /move_base/local_costmap/rolling_window: True
  • /move_base/local_costmap/static_map: False
  • /move_base/local_costmap/subscribe_to_updates: True
  • /move_base/local_costmap/transform_tolerance: 0.25
  • /move_base/local_costmap/update_frequency: 5
  • /move_base/local_costmap/width: 3
  • /move_base/recovery_behavior_enabled: True
  • /rosbot_ekf/acceleration_gains: [0.8, 0.0, 0.0, 0…
  • /rosbot_ekf/acceleration_limits: [1.3, 0.0, 0.0, 0…
  • /rosbot_ekf/base_link_frame: base_link
  • /rosbot_ekf/control_config: [True, False, Fal…
  • /rosbot_ekf/control_timeout: 0.2
  • /rosbot_ekf/debug: False
  • /rosbot_ekf/debug_out_file: /path/to/debug/fi…
  • /rosbot_ekf/deceleration_gains: [1.0, 0.0, 0.0, 0…
  • /rosbot_ekf/deceleration_limits: [1.3, 0.0, 0.0, 0…
  • /rosbot_ekf/frequency: 20
  • /rosbot_ekf/imu0: imu
  • /rosbot_ekf/imu0_config: [False, False, Fa…
  • /rosbot_ekf/imu0_differential: True
  • /rosbot_ekf/imu0_linear_acceleration_rejection_threshold: 0.8
  • /rosbot_ekf/imu0_nodelay: False
  • /rosbot_ekf/imu0_pose_rejection_threshold: 0.8
  • /rosbot_ekf/imu0_queue_size: 4
  • /rosbot_ekf/imu0_relative: True
  • /rosbot_ekf/imu0_remove_gravitational_acceleration: True
  • /rosbot_ekf/imu0_twist_rejection_threshold: 0.8
  • /rosbot_ekf/initial_estimate_covariance: [‘1e-9’, 0, 0, 0,…
  • /rosbot_ekf/map_frame: map
  • /rosbot_ekf/odom0: odom/wheel
  • /rosbot_ekf/odom0_config: [True, True, True…
  • /rosbot_ekf/odom0_differential: False
  • /rosbot_ekf/odom0_nodelay: False
  • /rosbot_ekf/odom0_queue_size: 6
  • /rosbot_ekf/odom0_relative: True
  • /rosbot_ekf/odom_frame: odom
  • /rosbot_ekf/print_diagnostics: True
  • /rosbot_ekf/process_noise_covariance: [0.05, 0, 0, 0, 0…
  • /rosbot_ekf/publish_acceleration: False
  • /rosbot_ekf/publish_tf: True
  • /rosbot_ekf/sensor_timeout: 0.2
  • /rosbot_ekf/stamped_control: False
  • /rosbot_ekf/transform_time_offset: 0.0
  • /rosbot_ekf/transform_timeout: 0.0
  • /rosbot_ekf/two_d_mode: False
  • /rosbot_ekf/use_control: True
  • /rosbot_ekf/world_frame: odom
  • /rosdistro: melodic
  • /rosversion: 1.14.5
  • /rplidarNode/angle_compensate: True
  • /rplidarNode/frame_id: laser
  • /rplidarNode/inverted: False
  • /rplidarNode/serial_baudrate: 115200
  • /rplidarNode/serial_port: /dev/ttyUSB0
  • /serial_node/baud: 500000
  • /serial_node/port: /dev/ttyS1

NODES
/
ROSbot_laser (tf/static_transform_publisher)
gmapping_node (gmapping/slam_gmapping)
imu_publisher (tf/static_transform_publisher)
map_to_img (husarion_ros/map_to_img_node)
move_base (move_base/move_base)
msgs_conversion (rosbot_ekf/msgs_conversion)
node_server (route_admin_panel/node_server.sh)
rosbot_ekf (robot_localization/ekf_localization_node)
rplidarNode (rplidar_ros/rplidarNode)
serial_node (rosserial_python/serial_node.py)

auto-starting new master
process[master]: started with pid [2728]
ROS_MASTER_URI=http://master:11311

setting /run_id to 4a9bf798-7590-11eb-ad90-409f384ed2fb
process[rosout-1]: started with pid [2739]
started core service [/rosout]
process[ROSbot_laser-2]: started with pid [2747]
process[node_server-3]: started with pid [2748]
/home/husarion/.ros
process[rplidarNode-4]: started with pid [2752]
process[serial_node-5]: started with pid [2757]
process[msgs_conversion-6]: started with pid [2758]
[ INFO] [1614054817.855636356]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
process[rosbot_ekf-7]: started with pid [2765]
process[imu_publisher-8]: started with pid [2772]
process[map_to_img-9]: started with pid [2778]
process[move_base-10]: started with pid [2783]
process[gmapping_node-11]: started with pid [2785]
internal/modules/cjs/loader.js:960
throw err;
^

Error: Cannot find module ‘express’
Require stack:

  • /home/husarion/husarion_ws/src/route_admin_panel/nodejs/main.js
    at Function.Module._resolveFilename (internal/modules/cjs/loader.js:957:15)
    at Function.Module._load (internal/modules/cjs/loader.js:840:27)
    at Module.require (internal/modules/cjs/loader.js:1019:19)
    at require (internal/modules/cjs/helpers.js:77:18)
    at Object. (/home/husarion/husarion_ws/src/route_admin_panel/nodejs/main.js:3:11)
    at Module._compile (internal/modules/cjs/loader.js:1133:30)
    at Object.Module._extensions…js (internal/modules/cjs/loader.js:1153:10)
    at Module.load (internal/modules/cjs/loader.js:977:32)
    at Function.Module._load (internal/modules/cjs/loader.js:877:14)
    at Function.executeUserEntryPoint [as runMain] (internal/modules/run_main.js:74:12) {
    code: ‘MODULE_NOT_FOUND’,
    requireStack: [ ‘/home/husarion/husarion_ws/src/route_admin_panel/nodejs/main.js’ ]
    }
    [node_server-3] process has died [pid 2748, exit code 1, cmd /home/husarion/husarion_ws/src/route_admin_panel/scripts/node_server.sh --min 5 --max 100 __name:=node_server __log:=/home/husarion/.ros/log/4a9bf798-7590-11eb-ad90-409f384ed2fb/node_server-3.log].
    log file: /home/husarion/.ros/log/4a9bf798-7590-11eb-ad90-409f384ed2fb/node_server-3*.log
    [ WARN] [1614054818.303094736]: Both imu0_differential and imu0_relative were set to true. Using differential mode.
    RPLIDAR S/N: 9E8B9AF2C1EA9FC0A2EB92F10D583C02
    [ INFO] [1614054818.369952697]: Firmware Ver: 1.25
    [ INFO] [1614054818.370033777]: Hardware Rev: 5
    [ INFO] [1614054818.371899490]: RPLidar health status : 0
    [ INFO] [1614054818.441782781]: Init MapAsImageProvider object
    [ INFO] [1614054818.564000815]: New scale is 0.010000
    [ INFO] [1614054818.564159767]: Map to Image node started.
    [ WARN] [1614054818.592941381]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
    [INFO] [1614054818.842488]: ROS Serial Python Node
    [INFO] [1614054818.895719]: Connecting to /dev/ttyS1 at 500000 baud
    [ INFO] [1614054818.944808025]: current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1
    [ WARN] [1614054819.602463172]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
    [ WARN] [1614054820.609243466]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
    [INFO] [1614054821.027451]: Requesting topics…
    [INFO] [1614054821.078911]: Note: publish buffer size is 768 bytes
    [INFO] [1614054821.104379]: Setup service server on config [rosbot_ekf/Configuration]
    ^C[gmapping_node-11] killing on exit
    [move_base-10] killing on exit
    [map_to_img-9] killing on exit
    [imu_publisher-8] killing on exit
    [rosbot_ekf-7] killing on exit
    [msgs_conversion-6] killing on exit
    [serial_node-5] killing on exit
    [INFO] [1614054821.284969]: Send tx stop request
    [rplidarNode-4] killing on exit
    [ROSbot_laser-2] killing on exit
    virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start
    virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree
    [rosout-1] killing on exit
    [master] killing on exit
    shutting down processing monitor…
    … shutting down processing monitor complete
    done

Thanks
VG

Hi Vineet,

It seems that some of needed nodejs package are missing. In this case you have two options:

  • Remove all Route admin panel files and install it one more time using this manual.

  • Reinstall your ROSbot OS using the newest one, Route admin panel should work fine on new image by default.

Best regards,
Hubert

Hubert,

I removed all route admin file and following manual steps.

I run the following command and I get the following error (Err:5 Index of /deb/ all InRelease
The following signatures were invalid: EXPKEYSIG 197D62F68A4C7BD6 Husarnet Authors contact@husarnet.com). Also, I found this link Apt update - invalid signatures - fresh system reinstall. First command is $ su root. and it appears from second comment that it should be “sudo su root” not “su root”. Works.

$ husarion@husarion:~/husarion_ws/src$ curl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash -

Installing the NodeSource Node.js 12.x repo…

Populating apt-get cache…

Confirming “bionic” is supported…

Adding the NodeSource signing key to your keyring…

Creating apt sources list file for the NodeSource Node.js 12.x repo…

Running apt-get update for you…

Run sudo apt-get install -y nodejs to install Node.js 12.x and npm

You may also need development tools to build native addons:

 sudo apt-get install gcc g++ make

To install the Yarn package manager, run:

 curl -sL https://dl.yarnpkg.com/debian/pubkey.gpg | sudo apt-key add -
 echo "deb https://dl.yarnpkg.com/debian/ stable main" | sudo tee /etc/apt/sources.list.d/yarn.list
 sudo apt-get update && sudo apt-get install yarn

husarion@husarion:~/husarion_ws/src$ su root
Password:
su: Authentication failure
husarion@husarion:~/husarion_ws/src$ su root
Password:
su: Authentication failure
husarion@husarion:~/husarion_ws/src$ cd …
husarion@husarion:~/husarion_ws$ dir
build devel src
husarion@husarion:~/husarion_ws$ cd …
husarion@husarion:~$ dir
Desktop Downloads Pictures Templates flash_firmware.sh husarion_ws rosbot-2.0-fw-v0.10.1.bin
Documents Music Public Videos gpio_lib_python ros_workspace stm32loader
husarion@husarion:~$ su root
Password:
su: Authentication failure
husarion@husarion:~$ sudo apt-get install gcc g++ make
Reading package lists… Done
Building dependency tree
Reading state information… Done
make is already the newest version (4.1-9.1ubuntu1).
make set to manually installed.
g++ is already the newest version (4:7.4.0-1ubuntu2.3).
g++ set to manually installed.
gcc is already the newest version (4:7.4.0-1ubuntu2.3).
gcc set to manually installed.
The following packages were automatically installed and are no longer required:
python-rosdep ros-melodic-ros-type-introspection
Use ‘sudo apt autoremove’ to remove them.
0 upgraded, 0 newly installed, 0 to remove and 444 not upgraded.
husarion@husarion:~$ curl -sL https://dl.yarnpkg.com/debian/pubkey.gpg | sudo apt-key add -
OK
husarion@husarion:~$
husarion@husarion:~$ echo “deb https://dl.yarnpkg.com/debian/ stable main” | sudo tee /etc/apt/sources.list.d/yarn.list
deb https://dl.yarnpkg.com/debian/ stable main
husarion@husarion:~$ sudo apt-get update && sudo apt-get install yarn
Get:1 https://dl.yarnpkg.com/debian stable InRelease [17.1 kB]
Hit:2 Index of /node_12.x/ bionic InRelease
Hit:3 Index of /ubuntu-ports bionic InRelease
Hit:4 Index of /ubuntu-ports bionic-security InRelease
Hit:5 Index of /ubuntu-ports bionic-updates InRelease
Hit:6 http://packages.ros.org/ros/ubuntu bionic InRelease
Get:7 https://dl.yarnpkg.com/debian stable/main all Packages [10.1 kB]
Get:8 Index of /deb/ all InRelease [14.2 kB]
Get:9 https://dl.yarnpkg.com/debian stable/main armhf Packages [10.1 kB]
Err:8 Index of /deb/ all InRelease
The following signatures were invalid: EXPKEYSIG 197D62F68A4C7BD6 Husarnet Authors contact@husarnet.com
Fetched 51.4 kB in 2s (21.7 kB/s)
Reading package lists… Done
W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: Index of /deb/ all InRelease: The following signatures were invalid: EXPKEYSIG 197D62F68A4C7BD6 Husarnet Authors contact@husarnet.com
W: Failed to fetch https://install.husarnet.com/deb/dists/all/InRelease The following signatures were invalid: EXPKEYSIG 197D62F68A4C7BD6 Husarnet Authors contact@husarnet.com
W: Some index files failed to download. They have been ignored, or old ones used instead.
Reading package lists… Done
Building dependency tree
Reading state information… Done
The following packages were automatically installed and are no longer required:
python-rosdep ros-melodic-ros-type-introspection
Use ‘sudo apt autoremove’ to remove them.
The following NEW packages will be installed:
yarn
0 upgraded, 1 newly installed, 0 to remove and 444 not upgraded.
Need to get 891 kB of archives.
After this operation, 5407 kB of additional disk space will be used.
Get:1 https://dl.yarnpkg.com/debian stable/main armhf yarn all 1.22.5-1 [891 kB]
Fetched 891 kB in 0s (2404 kB/s)
Selecting previously unselected package yarn.
(Reading database … 150128 files and directories currently installed.)
Preparing to unpack …/archives/yarn_1.22.5-1_all.deb …
Unpacking yarn (1.22.5-1) …
Setting up yarn (1.22.5-1) …
husarion@husarion:~$

Thanks
Vineet

Hi Vineet,

Probelem with:
Err:5 https://install.husarnet.com/deb all InRelease The following signatures were invalid: EXPKEYSIG 197D62F68A4C7BD6 Husarnet Authors contact@husarnet.com).

shows that you have really old image, but if you fixed accorfing to steps from another community topic why it’s still visible after running apt update command?

You don’t share with us results of reinstallation. Is Rout admin panel works properly now?

Best regards,
Hubert

Hubert,

After your response (Route Admin Panel | Husarion), I deleted admin and followed instructions to reinstall.

First, after this line

$ husarion@husarion:~/husarion_ws/src$ curl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash -
[/quote]

Second, when i got above error yesterday, i found this link (Apt update - invalid signatures - fresh system reinstall) for it.

First command is $ su root. Password did not work.

Then, second comment said that it should be “sudo su root” not “su root”.

Three, followed the rest with your suggestion, and it works with command:

$ roslaunch route_admin_panel demo_rosbot_mbed_fw.launch

Thanks
Vineet

Hubert,

I wanted to run simulation and installed route panel on my laptop similar to rostbot. When i run the command below, i get this error:

process[node_server-7]: started with pid [19335]

/home/grl/.ros
ERROR: cannot launch node of type [husarion_ros/map_to_img_node]: Cannot locate node of type [map_to_img_node] in package [husarion_ros]. Make sure file exists in package path and permission is set to executable (chmod +x)

grl@grl-Precision-7520:~/ros_workspace/src/route_admin_panel/launch$ roslaunch route_admin_panel demo_gazebo.launch
… logging to /home/grl/.ros/log/27e79150-7a3e-11eb-9f50-2016b9b6edd8/roslaunch-grl-Precision-7520-19284.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.

xacro.py is deprecated; please use xacro instead
started roslaunch server http://grl-Precision-7520:44919/

SUMMARY

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /joint_state_controller/publish_rate: 50
  • /joint_state_controller/type: joint_state_contr…
  • /map_to_img/child_frame: /base_link
  • /map_to_img/draw_robot: False
  • /map_to_img/parent_frame: /map
  • /map_to_img/publish_full_map: True
  • /map_to_img/publish_map_tile: False
  • /map_to_img/tile_height: 480
  • /map_to_img/tile_width: 640
  • /move_base/TrajectoryPlannerROS/acc_lim_Y: 1.5
  • /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
  • /move_base/TrajectoryPlannerROS/acc_lim_x: 1.5
  • /move_base/TrajectoryPlannerROS/gdist_scale: 0.2
  • /move_base/TrajectoryPlannerROS/holonomic_robot: False
  • /move_base/TrajectoryPlannerROS/max_vel_theta: 2.5
  • /move_base/TrajectoryPlannerROS/max_vel_x: 0.1
  • /move_base/TrajectoryPlannerROS/meter_scoring: True
  • /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.5
  • /move_base/TrajectoryPlannerROS/min_vel_theta: -2.5
  • /move_base/TrajectoryPlannerROS/min_vel_x: 0.05
  • /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
  • /move_base/TrajectoryPlannerROS/pdist_scale: 0.4
  • /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.1
  • /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
  • /move_base/controller_frequency: 10.0
  • /move_base/global_costmap/always_send_full_costmap: True
  • /move_base/global_costmap/footprint: [[0.12, 0.14], [0…
  • /move_base/global_costmap/global_frame: map
  • /move_base/global_costmap/height: 15
  • /move_base/global_costmap/inflation_radius: 2.5
  • /move_base/global_costmap/laser_scan_sensor/clearing: True
  • /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/global_costmap/laser_scan_sensor/marking: True
  • /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/global_costmap/laser_scan_sensor/topic: scan
  • /move_base/global_costmap/map_topic: /map
  • /move_base/global_costmap/observation_sources: laser_scan_sensor
  • /move_base/global_costmap/obstacle_range: 6.0
  • /move_base/global_costmap/origin_x: -7.5
  • /move_base/global_costmap/origin_y: -7.5
  • /move_base/global_costmap/publish_frequency: 1.5
  • /move_base/global_costmap/raytrace_range: 8.5
  • /move_base/global_costmap/resolution: 0.01
  • /move_base/global_costmap/robot_base_frame: base_link
  • /move_base/global_costmap/rolling_window: True
  • /move_base/global_costmap/static_map: False
  • /move_base/global_costmap/subscribe_to_updates: True
  • /move_base/global_costmap/transform_tolerance: 0.5
  • /move_base/global_costmap/update_frequency: 0.5
  • /move_base/global_costmap/width: 15
  • /move_base/local_costmap/always_send_full_costmap: True
  • /move_base/local_costmap/footprint: [[0.12, 0.14], [0…
  • /move_base/local_costmap/global_frame: map
  • /move_base/local_costmap/height: 3
  • /move_base/local_costmap/inflation_radius: 1.0
  • /move_base/local_costmap/laser_scan_sensor/clearing: True
  • /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/local_costmap/laser_scan_sensor/marking: True
  • /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/local_costmap/laser_scan_sensor/topic: scan
  • /move_base/local_costmap/map_topic: /map
  • /move_base/local_costmap/observation_sources: laser_scan_sensor
  • /move_base/local_costmap/obstacle_range: 6.0
  • /move_base/local_costmap/origin_x: -1.5
  • /move_base/local_costmap/origin_y: -1.5
  • /move_base/local_costmap/publish_frequency: 2.5
  • /move_base/local_costmap/raytrace_range: 8.5
  • /move_base/local_costmap/resolution: 0.01
  • /move_base/local_costmap/robot_base_frame: base_link
  • /move_base/local_costmap/rolling_window: True
  • /move_base/local_costmap/static_map: False
  • /move_base/local_costmap/subscribe_to_updates: True
  • /move_base/local_costmap/transform_tolerance: 0.25
  • /move_base/local_costmap/update_frequency: 2.5
  • /move_base/local_costmap/width: 3
  • /move_base/recovery_behavior_enabled: True
  • /robot_description: <?xml version="1…
  • /rosdistro: melodic
  • /rosversion: 1.14.10
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_controller_spawner (controller_manager/spawner)
map_to_img (husarion_ros/map_to_img_node)
move_base (move_base/move_base)
node_server (route_admin_panel/node_server.sh)
robot_state_publisher (robot_state_publisher/state_publisher)
rosbot_spawn (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [19298]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 27e79150-7a3e-11eb-9f50-2016b9b6edd8
process[rosout-1]: started with pid [19309]
started core service [/rosout]
process[joint_state_controller_spawner-2]: started with pid [19316]
process[rosbot_spawn-3]: started with pid [19317]
process[robot_state_publisher-4]: started with pid [19318]
process[gazebo-5]: started with pid [19319]
process[gazebo_gui-6]: started with pid [19324]
[ WARN] [1614569295.031608582]: The ‘state_publisher’ executable is deprecated. Please use ‘robot_state_publisher’ instead
process[node_server-7]: started with pid [19335]
/home/grl/.ros
ERROR: cannot launch node of type [husarion_ros/map_to_img_node]: Cannot locate node of type [map_to_img_node] in package [husarion_ros]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[move_base-9]: started with pid [19338]
[INFO] [1614569295.321949, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1614569295.350864175]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1614569295.352677063]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
Map scale: [ 10 , 500 ]
Port: 8000
Autosave interval time: 8000 [ms]
listening on :8000
Start SLAM process
Gmapping launched
Start map autosave process
Enable map auto save
[ INFO] [1614569295.413678916]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1614569295.416025438]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
[INFO] [1614569295.474] (ros): Connected to master at http://localhost:11311!
Subscribe to move_base updates
[ INFO] [1614569295.680558578]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1614569295.698404806]: Physics dynamic reconfigure ready.
[INFO] [1614569295.759799, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1614569295.768445, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1614569295.771400, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1614569296.057253893, 0.080000000]: Camera Plugin: Using the ‘robotNamespace’ param: ‘/’
[ INFO] [1614569296.059624565, 0.080000000]: Camera Plugin (ns = /) <tf_prefix_>, set to “”
[ INFO] [1614569296.298950972, 0.080000000]: Laser Plugin: Using the ‘robotNamespace’ param: ‘/’
[ INFO] [1614569296.299038714, 0.080000000]: Starting Laser Plugin (ns = /)
[ INFO] [1614569296.300426511, 0.080000000]: Laser Plugin (ns = /) <tf_prefix_>, set to “”
[INFO] [1614569296.309554, 0.080000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1614569296.316758897, 0.080000000]: set to: //
[ INFO] [1614569296.317025721, 0.080000000]: set to: //imu
[ INFO] [1614569296.317142678, 0.080000000]: set to: imu_link
[ INFO] [1614569296.317218398, 0.080000000]: set to: 10
[ INFO] [1614569296.317253772, 0.080000000]: set to: 0
[ INFO] [1614569296.317309219, 0.080000000]: set to: 0 0 0
[ INFO] [1614569296.317379466, 0.080000000]: set to: 0 -0 0
[rosbot_spawn-3] process has finished cleanly
log file: /home/grl/.ros/log/27e79150-7a3e-11eb-9f50-2016b9b6edd8/rosbot_spawn-3
.log
[ INFO] [1614569296.758541795, 0.080000000]: Starting GazeboRosSkidSteerDrive Plugin (ns = //)
[ INFO] [1614569296.772879276, 0.080000000]: Loading gazebo_ros_control plugin
[ INFO] [1614569296.772978708, 0.080000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1614569296.773657113, 0.080000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1614569296.916650908, 0.080000000]: Loaded gazebo_ros_control.
[ WARN] [1614569297.122314366, 0.290000000]: global_costmap: Parameter “plugins” not provided, loading pre-Hydro parameters
[INFO] [1614569297.130300, 0.290000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1614569297.133120, 0.300000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[ INFO] [1614569297.134858375, 0.300000000]: global_costmap: Using plugin “obstacle_layer”
[INFO] [1614569297.136212, 0.300000]: Loading controller: joint_state_controller
[ INFO] [1614569297.141018911, 0.310000000]: Subscribed to Topics: laser_scan_sensor
[INFO] [1614569297.150723, 0.320000]: Controller Spawner: Loaded controllers: joint_state_controller
[ INFO] [1614569297.159120348, 0.320000000]: global_costmap: Using plugin “inflation_layer”
[INFO] [1614569297.170898, 0.340000]: Started controllers: joint_state_controller
[ WARN] [1614569297.197015576, 0.360000000]: local_costmap: Parameter “plugins” not provided, loading pre-Hydro parameters
[ INFO] [1614569297.207625688, 0.370000000]: local_costmap: Using plugin “obstacle_layer”
[ INFO] [1614569297.209861552, 0.370000000]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1614569297.219356668, 0.380000000]: local_costmap: Using plugin “inflation_layer”
[ INFO] [1614569297.241764539, 0.410000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1614569297.247338114, 0.410000000]: Sim period is set to 0.10
[ WARN] [1614569297.249146608, 0.410000000]: Parameter pdist_scale is deprecated. Please use the name path_distance_bias instead.
[ WARN] [1614569297.249996921, 0.410000000]: Parameter gdist_scale is deprecated. Please use the name goal_distance_bias instead.
[ INFO] [1614569297.654384301, 0.810000000]: Recovery behavior will clear layer ‘obstacles’
[ INFO] [1614569297.659663260, 0.820000000]: Recovery behavior will clear layer ‘obstacles’
[ INFO] [1614569297.687287316, 0.840000000]: odom received!
Can not call map autosave. Valid map was not created

Thanks
Vineet

Hubert,

Flashed again.

When tried the run the command with ssh or directly on the rosbot, i get different error:

[gazebo_gui-6] process has died [pid 1436, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/husarion/.ros/log/5c4a60d2-7c94-11eb-925c-409f384ed2fb/gazebo_gui-6.log].
log file: /home/husarion/.ros/log/5c4a60d2-7c94-11eb-925c-409f384ed2fb/gazebo_gui-6*.log

husarion@husarion:~$ roslaunch route_admin_panel demo_gazebo.launch (Does this work with rosbot Pro only?)

… logging to /home/husarion/.ros/log/5c4a60d2-7c94-11eb-925c-409f384ed2fb/roslaunch-husarion-1397.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.

xacro.py is deprecated; please use xacro instead
started roslaunch server http://husarion:38471/

SUMMARY

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /joint_state_controller/publish_rate: 50
  • /joint_state_controller/type: joint_state_contr…
  • /map_to_img/child_frame: /base_link
  • /map_to_img/draw_robot: False
  • /map_to_img/parent_frame: /map
  • /map_to_img/publish_full_map: True
  • /map_to_img/publish_map_tile: False
  • /map_to_img/tile_height: 480
  • /map_to_img/tile_width: 640
  • /move_base/TrajectoryPlannerROS/acc_lim_Y: 1.5
  • /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
  • /move_base/TrajectoryPlannerROS/acc_lim_x: 1.5
  • /move_base/TrajectoryPlannerROS/gdist_scale: 0.2
  • /move_base/TrajectoryPlannerROS/holonomic_robot: False
  • /move_base/TrajectoryPlannerROS/max_vel_theta: 2.5
  • /move_base/TrajectoryPlannerROS/max_vel_x: 0.1
  • /move_base/TrajectoryPlannerROS/meter_scoring: True
  • /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.5
  • /move_base/TrajectoryPlannerROS/min_vel_theta: -2.5
  • /move_base/TrajectoryPlannerROS/min_vel_x: 0.05
  • /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
  • /move_base/TrajectoryPlannerROS/pdist_scale: 0.4
  • /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.1
  • /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
  • /move_base/controller_frequency: 10.0
  • /move_base/global_costmap/always_send_full_costmap: True
  • /move_base/global_costmap/footprint: [[0.12, 0.14], [0…
  • /move_base/global_costmap/global_frame: map
  • /move_base/global_costmap/height: 15
  • /move_base/global_costmap/inflation_radius: 2.5
  • /move_base/global_costmap/laser_scan_sensor/clearing: True
  • /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/global_costmap/laser_scan_sensor/marking: True
  • /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/global_costmap/laser_scan_sensor/topic: scan
  • /move_base/global_costmap/map_topic: /map
  • /move_base/global_costmap/observation_sources: laser_scan_sensor
  • /move_base/global_costmap/obstacle_range: 6.0
  • /move_base/global_costmap/origin_x: -7.5
  • /move_base/global_costmap/origin_y: -7.5
  • /move_base/global_costmap/publish_frequency: 1.5
  • /move_base/global_costmap/raytrace_range: 8.5
  • /move_base/global_costmap/resolution: 0.01
  • /move_base/global_costmap/robot_base_frame: base_link
  • /move_base/global_costmap/rolling_window: True
  • /move_base/global_costmap/static_map: False
  • /move_base/global_costmap/subscribe_to_updates: True
  • /move_base/global_costmap/transform_tolerance: 0.5
  • /move_base/global_costmap/update_frequency: 0.5
  • /move_base/global_costmap/width: 15
  • /move_base/local_costmap/always_send_full_costmap: True
  • /move_base/local_costmap/footprint: [[0.12, 0.14], [0…
  • /move_base/local_costmap/global_frame: map
  • /move_base/local_costmap/height: 3
  • /move_base/local_costmap/inflation_radius: 1.0
  • /move_base/local_costmap/laser_scan_sensor/clearing: True
  • /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/local_costmap/laser_scan_sensor/marking: True
  • /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/local_costmap/laser_scan_sensor/topic: scan
  • /move_base/local_costmap/map_topic: /map
  • /move_base/local_costmap/observation_sources: laser_scan_sensor
  • /move_base/local_costmap/obstacle_range: 6.0
  • /move_base/local_costmap/origin_x: -1.5
  • /move_base/local_costmap/origin_y: -1.5
  • /move_base/local_costmap/publish_frequency: 2.5
  • /move_base/local_costmap/raytrace_range: 8.5
  • /move_base/local_costmap/resolution: 0.01
  • /move_base/local_costmap/robot_base_frame: base_link
  • /move_base/local_costmap/rolling_window: True
  • /move_base/local_costmap/static_map: False
  • /move_base/local_costmap/subscribe_to_updates: True
  • /move_base/local_costmap/transform_tolerance: 0.25
  • /move_base/local_costmap/update_frequency: 2.5
  • /move_base/local_costmap/width: 3
  • /move_base/recovery_behavior_enabled: True
  • /robot_description: <?xml version="1…
  • /rosdistro: melodic
  • /rosversion: 1.14.10
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_controller_spawner (controller_manager/spawner)
map_to_img (husarion_ros/map_to_img_node)
move_base (move_base/move_base)
node_server (route_admin_panel/node_server.sh)
robot_state_publisher (robot_state_publisher/state_publisher)
rosbot_spawn (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [1410]
ROS_MASTER_URI=http://master:11311

setting /run_id to 5c4a60d2-7c94-11eb-925c-409f384ed2fb
process[rosout-1]: started with pid [1421]
started core service [/rosout]
process[joint_state_controller_spawner-2]: started with pid [1428]
process[rosbot_spawn-3]: started with pid [1429]
process[robot_state_publisher-4]: started with pid [1430]
process[gazebo-5]: started with pid [1431]
process[gazebo_gui-6]: started with pid [1436]
[ WARN] [1614826225.221686923]: The ‘state_publisher’ executable is deprecated. Please use ‘robot_state_publisher’ instead
process[node_server-7]: started with pid [1455]
/home/husarion/.ros
process[map_to_img-8]: started with pid [1457]
process[move_base-9]: started with pid [1459]
[ INFO] [1614826226.358971033]: Init MapAsImageProvider object
[INFO] [1614826226.494030, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1614826226.563857734]: New scale is 0.010000
[ INFO] [1614826226.564134817]: Map to Image node started.
[ WARN] [1614826226.589408925]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
Map scale: [ 10 , 500 ]
Port: 8000
Autosave interval time: 8000 [ms]
listening on :8000
Start SLAM process
Gmapping launched
Start map autosave process
Enable map auto save
[INFO] [1614826227.701] (ros): Connected to master at http://master:11311!
Subscribe to move_base updates
the rosdep view is empty: call ‘sudo rosdep init’ and ‘rosdep update’
[INFO] [1614826230.157609, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1614826230.242789, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1614826230.519454050]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1614826230.531084853]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting…
[ INFO] [1614826230.800002375]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1614826230.809448301]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting…
[ INFO] [1614826231.646984569]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1614826231.770606, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1614826231.819983621]: Physics dynamic reconfigure ready.
terminate called after throwing an instance of ‘boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >’
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[ INFO] [1614826255.141772003, 0.010000000]: Laser Plugin: Using the ‘robotNamespace’ param: ‘/’
[ INFO] [1614826255.142580213, 0.010000000]: Starting Laser Plugin (ns = /)
[ INFO] [1614826255.155128311, 0.010000000]: Laser Plugin (ns = /) <tf_prefix_>, set to “”
[ INFO] [1614826255.225315644, 0.010000000]: set to: //
[ INFO] [1614826255.225633561, 0.010000000]: set to: //imu
[ INFO] [1614826255.225729520, 0.010000000]: set to: imu_link
[ INFO] [1614826255.225921145, 0.010000000]: set to: 10
[ INFO] [1614826255.226077187, 0.010000000]: set to: 0
[ INFO] [1614826255.226285729, 0.010000000]: set to: 0 0 0
[ INFO] [1614826255.226794688, 0.010000000]: set to: 0 -0 0
[INFO] [1614826255.238940, 0.010000]: Spawn status: SpawnModel: Successfully spawned entity
[rosbot_spawn-3] process has finished cleanly
log file: /home/husarion/.ros/log/5c4a60d2-7c94-11eb-925c-409f384ed2fb/rosbot_spawn-3
.log
[WARN] [1614826256.789664, 0.010000]: Controller Spawner couldn’t find the expected controller_manager ROS interface.
[joint_state_controller_spawner-2] process has finished cleanly
log file: /home/husarion/.ros/log/5c4a60d2-7c94-11eb-925c-409f384ed2fb/joint_state_controller_spawner-2*.log
[ INFO] [1614826257.271410794, 0.010000000]: Starting GazeboRosSkidSteerDrive Plugin (ns = //)
[ INFO] [1614826257.475295081, 0.010000000]: Loading gazebo_ros_control plugin
[ INFO] [1614826257.475926248, 0.010000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1614826257.478109376, 0.010000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1614826257.703951522, 0.010000000]: Loaded gazebo_ros_control.
[ WARN] [1614826258.001502630, 0.130000000]: global_costmap: Parameter “plugins” not provided, loading pre-Hydro parameters
[ INFO] [1614826258.369847450, 0.230000000]: global_costmap: Using plugin “obstacle_layer”
[ INFO] [1614826258.413978420, 0.250000000]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1614826258.532945022, 0.280000000]: global_costmap: Using plugin “inflation_layer”
[ WARN] [1614826258.895212085, 0.370000000]: local_costmap: Parameter “plugins” not provided, loading pre-Hydro parameters
[ INFO] [1614826258.945521145, 0.380000000]: local_costmap: Using plugin “obstacle_layer”
[ INFO] [1614826258.956724076, 0.380000000]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1614826259.034640003, 0.410000000]: local_costmap: Using plugin “inflation_layer”
[ INFO] [1614826259.213868513, 0.450000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1614826259.251988226, 0.460000000]: Sim period is set to 0.10
[ WARN] [1614826259.267207702, 0.470000000]: Parameter pdist_scale is deprecated. Please use the name path_distance_bias instead.
[ WARN] [1614826259.273829127, 0.470000000]: Parameter gdist_scale is deprecated. Please use the name goal_distance_bias instead.
[ INFO] [1614826261.312321739, 1.020000000]: Call publishFullMap
[ INFO] [1614826261.357789129, 1.040000000]: Map published
Aborted (core dumped)
[gazebo_gui-6] process has died [pid 1436, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/husarion/.ros/log/5c4a60d2-7c94-11eb-925c-409f384ed2fb/gazebo_gui-6.log].
log file: /home/husarion/.ros/log/5c4a60d2-7c94-11eb-925c-409f384ed2fb/gazebo_gui-6*.log
[ INFO] [1614826266.346779041, 2.450000000]: Recovery behavior will clear layer ‘obstacles’
[ INFO] [1614826266.372554240, 2.460000000]: Recovery behavior will clear layer ‘obstacles’
[ INFO] [1614826266.527880644, 2.500000000]: odom received!
^C[move_base-9] killing on exit
[map_to_img-8] killing on exit
[node_server-7] killing on exit
[gazebo-5] killing on exit
[robot_state_publisher-4] killing on exit
terminate called after throwing an instance of ‘boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >’
terminate called recursively
[gazebo-5] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done
husarion@husarion:~$

Hi Vinnet,

Command:

 roslaunch route_admin_panel demo_gazebo.launch

Starts simulation environment and consuming a lot of computing power. You should start it on more powerful unit like your laptop. Simulation are not prepared to use it on single board computer like Tinker Board inside ROSbot 2.0.

Best regards,
Hubert