Installing new firmware

Software
1

Tried to update the new firmware. Stuck with the following error when trying the bridge code - rosbot_ekf all.launch. Not sure how to take from here.
husarion@test-612836-2307:~$ roslaunch rosbot_ekf all.launch
… logging to /home/husarion/.ros/log/8fb70ff8-0592-11ea-8938-409f384f007f/roslaunch-test-612836-2307-8114.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://test-612836-2307:44042/

SUMMARY

CLEAR PARAMETERS

  • /rosbot_ekf/

PARAMETERS

  • /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_tserial serial hreshold: 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: kinetic
  • /rosversion: 1.12.14
  • /serial_node/baud: 500000
  • /serial_node/port: /dev/ttyS1

NODES
/
msgs_conversion (rosbot_ekf/msgs_conversion)
rosbot_ekf (robot_localization/ekf_localization_node)
serial_node (rosserial_python/serial_node.py)

ROS_MASTER_URI=http://master:11311

process[serial_node-1]: started with pid [8168]
process[msgs_conversion-2]: started with pid [8171]
process[rosbot_ekf-3]: started with pid [8172]
[INFO] [1573593772.008196]: ROS Serial Python Node
[INFO] [1573593772.051210]: Connecting to /dev/ttyS1 at 500000 baud
[ERROR] [1573593789.172974]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
[ERROR] [1573593804.190896]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

2

Hi,
The rosbot_ekf works only with the mbed firmware. Make sure you have completed steps described here:

and you have the newest mbed firmware installed on your ROSbot.

Second, if you have ROSbot 2.0 pro version you should add rosbot_pro:=true parameter to your launch:

roslaunch rosbot_ekf all.launch rosbot_pro:=true