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