[Closed] New image problem with RPLidar and Astra (Husarion-rpi-ros2-humble-2023-07-18.img)

Software
1

So following the following thread:

I was able to download the new image and flash the sd card. I can now run microros and rosbot and have the topics sent to remote computers.

I cannot run rplidar or astra now.

I am running image husarion-rpi-ros2-humble-2023-07-18.img.xc

I had to change the owner of the .ros folder to husarion in order to get ros2 introspection to run on the robot.

RPlidar and astra worked fine with the older image, so I know its not a hardware issue.

Any ideas?

Cheers,
Brad Towle

2

This is the error from the log file:

cat sllidar_node_69_1690998227688.log
[INFO] [1690998227.753606359] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0
[ERROR] [1690998227.806797067] [sllidar_node]: Error, operation time out. SL_RESULT_OPERATION_TIMEOUT!

Also astra will start and show topics, but it will not publish anything.

3

I found the problem with RPLidar. Still working on the ASTRA:

I recentely upgraded to the new image released on July 18.
I had to fix the following two errors. (I re-installed the image twice).

Bug 1 and fix:
The .ros file in the home directory was set to root and Ros2 could not write out logs.
(I fixed this by changing the owner to ‘husarion’)

Bug 2 and fix:
For the RPLidar there is an alias device /dev/ttyRPLIDAR (the permissions are set correct here)
But in the compose file it is hardcoded to /dev/ttyUSB0 which did not have the correct permissions. Therefore, I could not run rplidar.
I changed the permissions to 777 and it worked, although there is probably a more elegant permission to use.

Cheers,
Dr. Towle

4

When I made all /dev/tty* permission 777 Astra worked. I was unable to figure out which specific tty Astra used.

5

@Brad_Towle
Thanks for moving your doubts and thoughts to a new thread. We’ll take a close look at this

Best regards
Jan Brzyk

6

@Brad_Towle

Please write in order what commands to enter into the terminal after burning a new image.

7

Sure:
I first flashed the sd card, then boot in with the usb/ethernet connection.
(setup wifi) sudo nano /etc/netplan/0…
Then applied the netplan.

  1. sudo setup_robot_configuration rosbot_2r ros2_humble
  2. docker compose pull
  3. docker stop rosbot microros || true && docker run
    –rm -it --privileged
    husarion/rosbot:humble
    /flash-firmware.py /root/firmware.bin
  4. docker compose up -d rosbot microros rplidar

Rplidar and astra would not publish anything until I unlocked the tty ports.

8

Hello,

To fix all mentioned issues in 18-07-2023 Husarion OS image you need to:

  1. Add those two lines to the end of the /etc/udev/rules.d/10-local.rules file
KERNEL=="ttyUSB*", GROUP="dialout", MODE="0666"
SUBSYSTEM=="usb", ATTR{idVendor}=="2bc5", MODE="0666"
  1. Execute:
sudo udevadm control --reload-rules && sudo udevadm trigger
  1. If ~/.ros folder is owned by a root user remove it first:
sudo rm -rf ~/.ros
  1. On a just burned system image execute one of two:

a) Utility script:

./ros_driver_start.sh

b) Docker Compose CLI way

mkdir -p ~/.ros
docker compose up

Best regards
Jan Brzyk

9

Sweet thank you. I wasn’t sure which rule file to modify.

10

@Brad_Towle

You will also need to rename the file:

/etc/udev/rules.d/10-local.rules to → /etc/udev/rules.d/99-local.rules

After reboot, follow the rest of the instructions above.

Best regards
Jan Brzyk