I am trying to run amcl on 2 robots. With leader follower concept using apriltags.
When I run amcl on both robots and then run the apriltag package it times out.
husarion@msr-rosbot2:~$ roslaunch apriltag_ros new.launch
… logging to /home/husarion/.ros/log/3b5b5146-e258-11ea-a318-409f384f007f/roslaunch-msr-rosbot2-6134.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://192.168.1.2:46533/
SUMMARY
CLEAR PARAMETERS
- /rosbot2/apriltag_ros_continuous_node/
PARAMETERS
- /rosbot2/apriltag_ros_continuous_node/camera_frame: camera
- /rosbot2/apriltag_ros_continuous_node/publish_tag_detections_image: True
- /rosbot2/apriltag_ros_continuous_node/publish_tf: True
- /rosbot2/apriltag_ros_continuous_node/standalone_tags: [{‘id’: 0, ‘size’…
- /rosbot2/apriltag_ros_continuous_node/tag_blur: 0.0
- /rosbot2/apriltag_ros_continuous_node/tag_bundles: []
- /rosbot2/apriltag_ros_continuous_node/tag_debug: 0
- /rosbot2/apriltag_ros_continuous_node/tag_decimate: 1.0
- /rosbot2/apriltag_ros_continuous_node/tag_family: tag36h11
- /rosbot2/apriltag_ros_continuous_node/tag_refine_edges: 1
- /rosbot2/apriltag_ros_continuous_node/tag_threads: 2
- /rosbot2/usb_cam/camera_frame_id: usb_cam
- /rosbot2/usb_cam/framerate: 10
- /rosbot2/usb_cam/image_height: 480
- /rosbot2/usb_cam/image_width: 640
- /rosbot2/usb_cam/io_method: mmap
- /rosbot2/usb_cam/pixel_format: yuyv
- /rosbot2/usb_cam/video_device: /dev/video0
- /rosdistro: melodic
- /rosversion: 1.14.7
NODES
/rosbot2/
apriltag_ros_continuous_node (apriltag_ros/apriltag_ros_continuous_node)
camera_broadcaster_1 (tf/static_transform_publisher)
usb_cam (usb_cam/usb_cam_node)
ROS_MASTER_URI=http://192.168.1.2:11311
process[rosbot2/camera_broadcaster_1-1]: started with pid [6150]
process[rosbot2/usb_cam-2]: started with pid [6151]
process[rosbot2/apriltag_ros_continuous_node-3]: started with pid [6156]
[ INFO] [1597868521.752963315]: Initializing nodelet with 4 worker threads.
[ INFO] [1597868522.217535843]: Loaded tag config: 0, size: 0.076, frame_name: tag_0
[ WARN] [1597868522.220152110]: remove_duplicates parameter not provided. Defaulting to true
[ INFO] [1597868522.444472615]: using default calibration URL
[ INFO] [1597868522.447551176]: camera calibration URL: file:///home/husarion/.ros/camera_info/head_camera.yaml
[ INFO] [1597868522.450034150]: Starting ‘head_camera’ (/dev/video0) at 640x480 via mmap (yuyv) at 10 FPS
[ERROR] [1597868595.673778603]: select timeout
[rosbot2/usb_cam-2] process has died [pid 6151, exit code 1, cmd /opt/ros/melodic/lib/usb_cam/usb_cam_node __name:=usb_cam __log:=/home/husarion/.ros/log/3b5b5146-e258-11ea-a318-409f384f007f/rosbot2-usb_cam-2.log].
log file: /home/husarion/.ros/log/3b5b5146-e258-11ea-a318-409f384f007f/rosbot2-usb_cam-2*.log
Tried roswtf
husarion@husarion:~$ roswtf
the rosdep view is empty: call ‘sudo rosdep init’ and 'rosdep update’
No package or stack in the current directory
Static checks summary:
Found 1 error(s).
ERROR ROS Dep database not updated: Please update rosdep database with ‘rosdep update’.
Beginning tests of your ROS graph. These may take a while…
analyzing graph…
… done analyzing graph
running graph rules…
ERROR: connection refused to [http://192.168.1.2:46519/]
… done running graph rules
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
- /rosbot1/amcl_1:
- /serial_node_1:
- /serial_node_2:
- /rosbot2/rosbot_ekf:
- /tf_static
- /rosbot2/set_pose
- /rosbot1/rosbot_ekf:
- /tf_static
- /rosbot1/set_pose
- /rosbot1/drive_controller_1:
- /rosbot2/drive_controller_2:
- /rosbot2/drive_controller_2/pose
- /rosbot1/rviz:
- /rosbot2/amcl_2:
WARNING These nodes have died:
Found 2 error(s).
ERROR Could not contact the following nodes:
ERROR Errors connecting to the following services:
- service [/rosbot2/usb_cam/start_capture] appears to be malfunctioning: Unable to communicate with service [/rosbot2/usb_cam/start_capture], address [rosrpc://192.168.1.2:50956]
- service [/rosbot2/usb_cam/set_camera_info] appears to be malfunctioning: Unable to communicate with service [/rosbot2/usb_cam/set_camera_info], address [rosrpc://192.168.1.2:50956]
- service [/rosbot2/usb_cam/image_raw/compressed/set_parameters] appears to be malfunctioning: Unable to communicate with service [/rosbot2/usb_cam/image_raw/compressed/set_parameters], address [rosrpc://192.168.1.2:50956]
- service [/rosbot2/usb_cam/get_loggers] appears to be malfunctioning: Unable to communicate with service [/rosbot2/usb_cam/get_loggers], address [rosrpc://192.168.1.2:50956]
- service [/rosbot2/usb_cam/image_raw/compressedDepth/set_parameters] appears to be malfunctioning: Unable to communicate with service [/rosbot2/usb_cam/image_raw/compressedDepth/set_parameters], address [rosrpc://192.168.1.2:50956]
- service [/rosbot2/usb_cam/stop_capture] appears to be malfunctioning: Unable to communicate with service [/rosbot2/usb_cam/stop_capture], address [rosrpc://192.168.1.2:50956]
- service [/rosbot2/usb_cam/set_logger_level] appears to be malfunctioning: Unable to communicate with service [/rosbot2/usb_cam/set_logger_level], address [rosrpc://192.168.1.2:50956]
Can you please let me know how to solve this select timeout issue?
