I can't get roslaunch rosbot_ekf all.launch rosbot_pro:=true to work

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1

Hi all
I was following the instructions on I Simple kinematics for mobile robot | Husarion but I cannot get roslaunch rosbot_ekf all.launch rosbot_pro:=true to run without errors

I have reinstalled Ubuntu 20.04 with ROS Noetic multiple times by following the system reinstallation instructions. This image(Ubuntu 20.04 + ROS Noetic + Docker + Husarnet client) doesn’t give the option of erasing former ubuntu versions. It just proceeds to install a new version of ubuntu without any user input.

I followed all the steps in this answer. Unfortunately, they weren’t able to help

I will outline all the steps I took and the results I got below

  1. The first thing I did was fix the grub error I encountered while installing ubuntu using this answer

  2. I flashed the firmware with ./flash_firmware.sh

  3. I then ran roslaunch rosbot_ekf all.launch rosbot_pro:=true

    this was the output

[ERROR] [1627422054.359713]: Creation of publisher failed: Checksum does not match: 4ddae7f048e32fda22cac764685e3974,476f837fa6771f6e16e3bf4ef96f8770
  1. I ran sudo apt-get update
    This was the output
Get:1 http://packages.ros.org/ros/ubuntu focal InRelease [4,676 B]             
Err:1 http://packages.ros.org/ros/ubuntu focal InRelease                       
  The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
Hit:2 https://download.docker.com/linux/ubuntu bionic InRelease                
Get:3 http://security.ubuntu.com/ubuntu focal-security InRelease [114 kB]      
Hit:4 http://ppa.launchpad.net/aaeon-cm/5.4-upboard/ubuntu focal InRelease     
Hit:5 http://us.archive.ubuntu.com/ubuntu focal InRelease                      
Get:6 http://us.archive.ubuntu.com/ubuntu focal-updates InRelease [114 kB]     
Get:7 http://us.archive.ubuntu.com/ubuntu focal-backports InRelease [101 kB]   
Hit:8 https://install.husarnet.com/deb all InRelease                           
Fetched 333 kB in 17s (19.4 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: http://packages.ros.org/ros/ubuntu focal InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
W: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/focal/InRelease  The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
W: Some index files failed to download. They have been ignored, or old ones used instead.

  1. I fixed it GPG error with curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

  2. I was then able to run
    sudo apt-get update and sudo apt-get upgrade

  3. I ran roslaunch rosbot_ekf all.launch rosbot_pro:=true again and this was the output

[ERROR] [1627423355.100314]: Creation of publisher failed: Checksum does not match: 4ddae7f048e32fda22cac764685e3974,476f837fa6771f6e16e3bf4ef96f8770

  1. I tried installing rosserial-arduino and rosserial-python. rosserial-python was already installed
    sudo apt-get install ros-noetic-rosserial-arduino
    sudo apt-get install ros-noetic-rosserial-python

  2. I ran roslaunch rosbot_ekf all.launch rosbot_pro:=true again and this was the output

 Creation of publisher failed: Checksum does not match: 4ddae7f048e32fda22cac764685e3974,476f837fa6771f6e16e3bf4ef96f8770

  1. I reset the robot

  2. I flashed the firmware again with ./flash_firmware.sh and
    ran roslaunch rosbot_ekf all.launch rosbot_pro:=true again. the output was the same

[ERROR] [1627423964.444764]: Tried to publish before configured, topic id 126
[INFO] [1627423964.454225]: Requesting topics...
[ERROR] [1627423964.474567]: Creation of publisher failed: Checksum does not match: 4ddae7f048e32fda22cac764685e3974,476f837fa6771f6e16e3bf4ef96f8770
  1. I uploaded the rosbot noetic firmware with
    sudo stm32loader -c upboard -u -W
    sudo stm32loader -c upboard -e -w -v rosbot-2.0-fw-v0.14.3-noetic.bin
    the output was a mismatch in the ROS versions of rosserial
[ERROR] [1627424191.451919]: Mismatched protocol version in packet (b'\x7f'): lost sync or rosserial_python is from different ros release than the rosserial client
[INFO] [1627424191.459823]: Protocol version of client is unrecognized, expected Rev 1 (rosserial 0.5+)
[ERROR] [1627424191.490013]: Mismatched protocol version in packet (b'\xff'): lost sync or rosserial_python is from different ros release than the rosserial client

I would appreciate some help resolving this issue.
Thanks

2

Hi chuchu,

could you check if boudrate is set to 525000 in:

There might be missmatch in baudrates.

Best regards,
Krzysztof Wojciechowski.