SLAM navigation tutorial

sobieski · October 23, 2018, 2:23pm

Hi,

I’m going through your SLAM navigation tutorial (SLAM navigation | Husarion) and I am completly stuck at a certain point.

I’ve created a new node with this code:
`#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_broadcaster.h>

static tf::TransformBroadcaster br;

tf::Transform transform;
tf::Quaternion q;

void pose_callback(const geometry_msgs::PoseStampedPtr &pose)
{
q.setX(pose->pose.orientation.x);
q.setY(pose->pose.orientation.y);
q.setZ(pose->pose.orientation.z);
q.setW(pose->pose.orientation.w);

transform.setOrigin(tf::Vector3(pose->pose.position.x, pose->pose.position.y, 0.0));
transform.setRotation(q);

br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "odom", "base_link"));

}

int main(int argc, char **argv)
{
ros::init(argc, argv, “drive_controller”);
ros::NodeHandle n("~");
ros::Subscriber pose_sub = n.subscribe("/pose", 1, pose_callback);
ros::Rate loop_rate(100);
while (ros::ok())
{
ros::spinOnce();
loop_rate.sleep();
}
}`

Running it by this command: rosrun drive_controller_node drive_controller_node

results in these errors: [FATAL] [1530801188.556679116]: You must call ros::init() before creating the first NodeHandle Couldn't find an AF_INET address for [] Couldn't find an AF_INET address for [] [ERROR] [1530801188.594266782]: [registerPublisher] Failed to contact master at [:0]. Retrying... Couldn't find an AF_INET address for [] Couldn't find an AF_INET address for [] Couldn't find an AF_INET address for [] Couldn't find an AF_INET address for []

What am I doing wrong? roscore is running of course and ros::init() is called as you can see in the code above.

Any way to fix this?

Thanks a lot in advance.

lukasz.mitka · October 23, 2018, 3:01pm

Hello Sobieski,

The error occurs because initialization of static tf::TransformBroadcaster br; is called before ros::init() but it should be inside pose_callback() function.

You are not doing anything wrong, the error went with last tutorial update. I already fixed it.

Regards,
Łukasz

sobieski · October 29, 2018, 3:31pm

Well,

by now I’m getting the standard map at the beginning. But it’s not getting any updates. Although I can see the updates on the lidar as well as on all needed topics (/tf and /scan). But none on /map.
rostopic hz /map is showing nothing.
Any hint?

Thanks a lot

lukasz.mitka · October 29, 2018, 3:57pm

Hello Sobieski,

Map is published only when there is map change, e.g. due to new observations or when robot moves for a certain distance. Try to move robot around and some updates will appear.

Regards,
Łukasz

sobieski · October 29, 2018, 3:59pm

I’ve already driven around and nothing is published. Could it be worth trying with gazebo? Is gazebo taking the real time data or just simulated data? Any other hint on debugging?

Thanks

lukasz.mitka · October 29, 2018, 4:03pm

Are you getting any errors or warnings?

Gazebo is not taking any sensor data. It is simulating and publishing that data.

Could you provide screen from:
rosrun rqt_graph rqt_graph and rosrun rqt_tf_tree rqt_tf_tree

sobieski · October 29, 2018, 4:12pm

Sure. Here we go:

Thanks

lukasz.mitka · October 29, 2018, 6:29pm

I will need to see log files.
When you start launch file, at first line in the screen you get something like:

... logging to /home/lukasz/.ros/log/4449ed9e-dba7-11e8-9b3e-a0c5897d6d15/roslaunch-robot-1-896.log

Could you provide me with

content of the log file (name of this file is changing with every launch)
output from the launch process

Regards,
Łukasz

sobieski · October 30, 2018, 9:05am

Output of the launch file:

 ... logging to /home/husarion/.ros/log/d85724d8-8036-11e8-b137-f0038ca061f1/roslaunch-husarion-2469-3007.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://husarion-2469:33114/

SUMMARY
========

PARAMETERS
 * /gmapping/base_frame: base_link
 * /gmapping/odom_frame: odom
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    drive_controller (drive_controller_node/drive_controller_node)
    gmapping (gmapping/slam_gmapping)
    laser_broadcaster (tf/static_transform_publisher)
    rplidar (rplidar_ros/rplidarNode)

auto-starting new master
process[master]: started with pid [3017]
ROS_MASTER_URI=http://master:11311

setting /run_id to d85724d8-8036-11e8-b137-f0038ca061f1
process[rosout-1]: started with pid [3031]
started core service [/rosout]
process[laser_broadcaster-2]: started with pid [3034]
process[rplidar-3]: started with pid [3042]
process[drive_controller-4]: started with pid [3046]
process[gmapping-5]: started with pid [3053]
Laser Pose= -0.974478 0.00504663 3.06028
^C[gmapping-5] killing on exit
[drive_controller-4] killing on exit
[rplidar-3] killing on exit
[laser_broadcaster-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

Output of the log:
Gmapping:

e[0m[ INFO] [1530783373.343185412]: Laser is mounted upwards.e[0m
 -maxUrange 11.99 -maxUrange 11.99 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
e[0m[ INFO] [1530783373.423516538]: Initialization completee[0m
update frame 0
update ld=0 ad=0
m_count 0
Registering First Scan

Master log:

[rosmaster.main][INFO] 2018-07-05 11:36:09,452: initialization complete, waiting for shutdown
[rosmaster.main][INFO] 2018-07-05 11:36:09,453: Starting ROS Master Node
[xmlrpc][INFO] 2018-07-05 11:36:09,454: XML-RPC server binding to :::11311
[xmlrpc][INFO] 2018-07-05 11:36:09,455: binding ipv6 xmlrpc socket to('::', 11311)
[xmlrpc][INFO] 2018-07-05 11:36:09,455: bound to ('::', 11311)
[xmlrpc][INFO] 2018-07-05 11:36:09,455: Started XML-RPC server [http://husarion-2469:11311/]
[rosmaster.master][INFO] 2018-07-05 11:36:09,456: Master initialized: port[11311], uri[http://husarion-2469:11311/]
[xmlrpc][INFO] 2018-07-05 11:36:09,456: xml rpc node: starting XML-RPC server
[rosmaster.master][INFO] 2018-07-05 11:36:09,565: +PARAM [/run_id] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 11:36:09,572: +PARAM [/roslaunch/uris/host_husarion_2469__33114] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 11:36:09,699: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 11:36:09,700: +PARAM [/gmapping/odom_frame] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 11:36:09,700: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 11:36:09,701: +PARAM [/gmapping/base_frame] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 11:36:09,729: +SERVICE [/rosout/get_loggers] /rosout http://husarion-2469:36881/
[rosmaster.master][INFO] 2018-07-05 11:36:09,733: +SERVICE [/rosout/set_logger_level] /rosout http://husarion-2469:36881/
[rosmaster.master][INFO] 2018-07-05 11:36:09,758: +PUB [/rosout_agg] /rosout http://husarion-2469:36881/
[rosmaster.master][INFO] 2018-07-05 11:36:09,795: +PUB [/rosout] /laser_broadcaster http://husarion-2469:44414/
[rosmaster.master][INFO] 2018-07-05 11:36:09,803: +SERVICE [/laser_broadcaster/get_loggers] /laser_broadcaster http://husarion-2469:44414/
[rosmaster.master][INFO] 2018-07-05 11:36:09,805: +PUB [/rosout] /rplidar http://husarion-2469:39374/
[rosmaster.master][INFO] 2018-07-05 11:36:09,813: +SERVICE [/laser_broadcaster/set_logger_level] /laser_broadcaster http://husarion-2469:44414/
[rosmaster.master][INFO] 2018-07-05 11:36:09,815: +SERVICE [/rplidar/get_loggers] /rplidar http://husarion-2469:39374/
[rosmaster.master][INFO] 2018-07-05 11:36:09,818: +SUB [/rosout] /rosout http://husarion-2469:36881/
[rosmaster.master][INFO] 2018-07-05 11:36:09,822: +SERVICE [/rplidar/set_logger_level] /rplidar http://husarion-2469:39374/
[rosmaster.master][INFO] 2018-07-05 11:36:09,824: +PUB [/tf] /laser_broadcaster http://husarion-2469:44414/
[rosmaster.master][INFO] 2018-07-05 11:36:09,831: +PUB [/scan] /rplidar http://husarion-2469:39374/
[rosmaster.master][INFO] 2018-07-05 11:36:09,833: +PUB [/rosout] /drive_controller http://husarion-2469:37836/
[rosmaster.master][INFO] 2018-07-05 11:36:09,836: +SERVICE [/drive_controller/get_loggers] /drive_controller http://husarion-2469:37836/
[rosmaster.master][INFO] 2018-07-05 11:36:09,840: +SERVICE [/drive_controller/set_logger_level] /drive_controller http://husarion-2469:37836/
[rosmaster.master][INFO] 2018-07-05 11:36:09,855: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/']
[rosmaster.master][INFO] 2018-07-05 11:36:09,860: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/']: sec=0.01, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:36:09,876: +SUB [/pose] /drive_controller http://husarion-2469:37836/
[rosmaster.master][INFO] 2018-07-05 11:36:09,881: +PUB [/rosout] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:09,884: +SERVICE [/gmapping/get_loggers] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:09,886: +SERVICE [/gmapping/set_logger_level] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:09,901: +SUB [/tf] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:09,914: +SUB [/tf_static] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:09,918: +PUB [/tf] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:09,955: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/', 'http://husarion-2469:38481/']
[rosmaster.master][INFO] 2018-07-05 11:36:09,958: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/', 'http://husarion-2469:38481/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:36:09,959: publisherUpdate[/tf] -> http://husarion-2469:38481/ ['http://husarion-2469:44414/', 'http://husarion-2469:38481/']
[rosmaster.master][INFO] 2018-07-05 11:36:09,963: publisherUpdate[/tf] -> http://husarion-2469:38481/ ['http://husarion-2469:44414/', 'http://husarion-2469:38481/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:36:09,991: +PUB [/gmapping/entropy] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:09,993: +PUB [/map] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:09,996: +PUB [/map_metadata] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:09,998: +SERVICE [/dynamic_map] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:10,009: +SUB [/scan] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:36:10,239: +PUB [/rosout] /serial_node http://husarion-2469:40061/
[rosmaster.master][INFO] 2018-07-05 11:36:10,262: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/', 'http://husarion-2469:38481/', 'http://husarion-2469:40061/']
[rosmaster.master][INFO] 2018-07-05 11:36:10,263: +SERVICE [/serial_node/get_loggers] /serial_node http://husarion-2469:40061/
[rosmaster.master][INFO] 2018-07-05 11:36:10,271: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/', 'http://husarion-2469:38481/', 'http://husarion-2469:40061/']: sec=0.01, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:36:10,277: +SERVICE [/serial_node/set_logger_level] /serial_node http://husarion-2469:40061/
[rosmaster.master][INFO] 2018-07-05 11:36:10,320: +PUB [/diagnostics] /serial_node http://husarion-2469:40061/
[rosmaster.master][INFO] 2018-07-05 11:36:10,366: +SERVICE [/stop_motor] /rplidar http://husarion-2469:39374/
[rosmaster.master][INFO] 2018-07-05 11:36:10,374: +SERVICE [/start_motor] /rplidar http://husarion-2469:39374/
[rosmaster.master][INFO] 2018-07-05 11:36:12,125: +PUB [/cmd_vel] /teleop_twist_keyboard http://husarion-2469:33242/
[rosmaster.master][INFO] 2018-07-05 11:36:12,228: +PUB [/rosout] /teleop_twist_keyboard http://husarion-2469:33242/
[rosmaster.master][INFO] 2018-07-05 11:36:12,244: +SERVICE [/teleop_twist_keyboard/get_loggers] /teleop_twist_keyboard http://husarion-2469:33242/
[rosmaster.master][INFO] 2018-07-05 11:36:12,249: +SERVICE [/teleop_twist_keyboard/set_logger_level] /teleop_twist_keyboard http://husarion-2469:33242/
[rosmaster.master][INFO] 2018-07-05 11:36:12,270: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/', 'http://husarion-2469:38481/', 'http://husarion-2469:40061/', 'http://husarion-2469:33242/']
[rosmaster.master][INFO] 2018-07-05 11:36:12,273: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/', 'http://husarion-2469:38481/', 'http://husarion-2469:40061/', 'http://husarion-2469:33242/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:36:12,489: +PUB [/battery] /serial_node http://husarion-2469:40061/
[rosmaster.master][INFO] 2018-07-05 11:36:12,499: +PUB [/pose] /serial_node http://husarion-2469:40061/
[rosmaster.master][INFO] 2018-07-05 11:36:12,510: +SUB [/cmd_vel] /serial_node http://husarion-2469:40061/
[rosmaster.master][INFO] 2018-07-05 11:36:12,523: +SUB [/reset_odom] /serial_node http://husarion-2469:40061/
[rosmaster.master][INFO] 2018-07-05 11:36:12,572: publisherUpdate[/pose] -> http://husarion-2469:37836/ ['http://husarion-2469:40061/']
[rosmaster.master][INFO] 2018-07-05 11:36:12,577: publisherUpdate[/pose] -> http://husarion-2469:37836/ ['http://husarion-2469:40061/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:36:12,830: +PUB [/tf] /drive_controller http://husarion-2469:37836/
[rosmaster.master][INFO] 2018-07-05 11:36:12,874: publisherUpdate[/tf] -> http://husarion-2469:38481/ ['http://husarion-2469:44414/', 'http://husarion-2469:38481/', 'http://husarion-2469:37836/']
[rosmaster.master][INFO] 2018-07-05 11:36:12,877: publisherUpdate[/tf] -> http://husarion-2469:38481/ ['http://husarion-2469:44414/', 'http://husarion-2469:38481/', 'http://husarion-2469:37836/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:37:36,859: -PUB [/rosout] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:37:36,862: -PUB [/tf] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:37:36,864: -PUB [/gmapping/entropy] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:37:36,883: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/', 'http://husarion-2469:40061/', 'http://husarion-2469:33242/']
[rosmaster.master][INFO] 2018-07-05 11:37:36,885: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:39374/', 'http://husarion-2469:37836/', 'http://husarion-2469:40061/', 'http://husarion-2469:33242/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:37:36,886: publisherUpdate[/tf] -> http://husarion-2469:38481/ ['http://husarion-2469:44414/', 'http://husarion-2469:37836/']
[rosmaster.master][INFO] 2018-07-05 11:37:36,887: publisherUpdate[/tf] -> http://husarion-2469:38481/ ['http://husarion-2469:44414/', 'http://husarion-2469:37836/']: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.threadpool][ERROR] 2018-07-05 11:37:36,890: Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2018-07-05 11:37:36,891: -PUB [/map] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:37:36,893: -PUB [/map_metadata] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:37:36,897: -SUB [/tf] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:37:36,900: -SUB [/tf_static] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:37:36,902: -SUB [/scan] /gmapping http://husarion-2469:38481/
[rosmaster.master][INFO] 2018-07-05 11:37:36,905: -SERVICE [/gmapping/get_loggers] /gmapping rosrpc://husarion-2469:35299
[rosmaster.master][INFO] 2018-07-05 11:37:36,907: -SERVICE [/gmapping/set_logger_level] /gmapping rosrpc://husarion-2469:35299
[rosmaster.master][INFO] 2018-07-05 11:37:36,910: -SERVICE [/dynamic_map] /gmapping rosrpc://husarion-2469:35299
[rosmaster.master][INFO] 2018-07-05 11:37:36,947: -PUB [/rosout] /rplidar http://husarion-2469:39374/
[rosmaster.master][INFO] 2018-07-05 11:37:36,949: -PUB [/rosout] /laser_broadcaster http://husarion-2469:44414/
[rosmaster.master][INFO] 2018-07-05 11:37:36,951: -PUB [/scan] /rplidar http://husarion-2469:39374/
[rosmaster.master][INFO] 2018-07-05 11:37:36,954: -PUB [/tf] /laser_broadcaster http://husarion-2469:44414/
[rosmaster.master][INFO] 2018-07-05 11:37:36,954: -SERVICE [/rplidar/get_loggers] /rplidar rosrpc://husarion-2469:53083
[rosmaster.master][INFO] 2018-07-05 11:37:36,957: -SERVICE [/laser_broadcaster/get_loggers] /laser_broadcaster rosrpc://husarion-2469:42521
[rosmaster.master][INFO] 2018-07-05 11:37:36,958: -SERVICE [/rplidar/set_logger_level] /rplidar rosrpc://husarion-2469:53083
[rosmaster.master][INFO] 2018-07-05 11:37:36,960: -PUB [/rosout] /drive_controller http://husarion-2469:37836/
[rosmaster.master][INFO] 2018-07-05 11:37:36,963: -SERVICE [/laser_broadcaster/set_logger_level] /laser_broadcaster rosrpc://husarion-2469:42521
[rosmaster.master][INFO] 2018-07-05 11:37:36,965: -SERVICE [/stop_motor] /rplidar rosrpc://husarion-2469:53083
[rosmaster.master][INFO] 2018-07-05 11:37:36,968: -SERVICE [/start_motor] /rplidar rosrpc://husarion-2469:53083
[rosmaster.master][INFO] 2018-07-05 11:37:36,969: -PUB [/tf] /drive_controller http://husarion-2469:37836/
[rosmaster.master][INFO] 2018-07-05 11:37:36,971: -SUB [/pose] /drive_controller http://husarion-2469:37836/
[rosmaster.master][INFO] 2018-07-05 11:37:36,973: -SERVICE [/drive_controller/get_loggers] /drive_controller rosrpc://husarion-2469:42618
[rosmaster.master][INFO] 2018-07-05 11:37:36,975: -SERVICE [/drive_controller/set_logger_level] /drive_controller rosrpc://husarion-2469:42618
[rosmaster.master][INFO] 2018-07-05 11:37:36,990: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:37836/', 'http://husarion-2469:40061/', 'http://husarion-2469:33242/']
[rosmaster.master][INFO] 2018-07-05 11:37:36,992: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:44414/', 'http://husarion-2469:37836/', 'http://husarion-2469:40061/', 'http://husarion-2469:33242/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:37:36,992: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:37836/', 'http://husarion-2469:40061/', 'http://husarion-2469:33242/']
[rosmaster.master][INFO] 2018-07-05 11:37:36,993: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:37836/', 'http://husarion-2469:40061/', 'http://husarion-2469:33242/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:37:36,993: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:40061/', 'http://husarion-2469:33242/']
[rosmaster.master][INFO] 2018-07-05 11:37:36,994: publisherUpdate[/rosout] -> http://husarion-2469:36881/ ['http://husarion-2469:40061/', 'http://husarion-2469:33242/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 11:37:37,805: -PUB [/rosout_agg] /rosout http://husarion-2469:36881/
[rosmaster.master][INFO] 2018-07-05 11:37:37,819: -SUB [/rosout] /rosout http://husarion-2469:36881/
[rosmaster.master][INFO] 2018-07-05 11:37:37,827: -SERVICE [/rosout/get_loggers] /rosout rosrpc://husarion-2469:54585
[rosmaster.master][INFO] 2018-07-05 11:37:37,839: -SERVICE [/rosout/set_logger_level] /rosout rosrpc://husarion-2469:54585
[rosmaster.main][INFO] 2018-07-05 11:37:37,980: keyboard interrupt, will exit
[rosmaster.main][INFO] 2018-07-05 11:37:37,980: stopping master...
[rospy.core][INFO] 2018-07-05 11:37:37,981: signal_shutdown [atexit]

Log of rosout:

1530783369.739065369  Node Startup
1530783369.850456661 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:203(main) [topics: /rosout, /scan] RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0
1530783370.358624286 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:128(standalone::rplidar::RPlidarDriver*)) [topics: /rosout, /scan] Firmware Ver: 1.24
1530783370.358878911 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:129(standalone::rplidar::RPlidarDriver*)) [topics: /rosout, /scan] Hardware Rev: 5
1530783370.361214286 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:140(standalone::rplidar::RPlidarDriver*)) [topics: /rosout, /scan] RPLidar health status : 0
1530783370.313108921 INFO [ros-core2-client:82(<module>) [topics: /rosout] Connecting to /dev/ttyS1 at 500000 baud
1530783370.942228578 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:275(main) [topics: /rosout, /scan] current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1
1530783372.492604970 INFO [SerialClient.py:520(setPublishSize) [topics: /diagnostics, /battery, /rosout] Note: publish buffer size is 512 bytes
1530783372.493947029 INFO [SerialClient.py:536(setupPublisher) [topics: /diagnostics, /battery, /rosout] Setup publisher on /battery [sensor_msgs/BatteryState]
1530783372.501920938 INFO [SerialClient.py:536(setupPublisher) [topics: /diagnostics, /battery, /rosout, /pose] Setup publisher on /pose [geometry_msgs/PoseStamped]
1530783372.513432979 INFO [SerialClient.py:525(setSubscribeSize) [topics: /diagnostics, /battery, /rosout, /cmd_vel, /pose] Note: subscribe buffer size is 512 bytes
1530783372.514770984 INFO [SerialClient.py:549(setupSubscriber) [topics: /diagnostics, /battery, /rosout, /cmd_vel, /pose] Setup subscriber on /cmd_vel [geometry_msgs/Twist]
1530783372.526619911 INFO [SerialClient.py:549(setupSubscriber) [topics: /pose, /reset_odom, /diagnostics, /battery, /rosout, /cmd_vel] Setup subscriber on /reset_odom [std_msgs/Bool]
1530783373.343433037 INFO [/tmp/binarydeb/ros-kinetic-gmapping-1.3.10/src/slam_gmapping.cpp:447(initMapper) [topics: /rosout, /tf, /gmapping/entropy, /map, /map_metadata] Laser is mounted upwards.
1530783373.423577496 INFO [/tmp/binarydeb/ros-kinetic-gmapping-1.3.10/src/slam_gmapping.cpp:532(initMapper) [topics: /rosout, /tf, /gmapping/entropy, /map, /map_metadata] Initialization complete

Log of rpLidar:

e[0m[ INFO] [1530783369.850359827]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0e[0m
RPLIDAR S/N: CDF39AF2C1EA98D4BEEB9CF042203517
e[0m[ INFO] [1530783370.358521328]: Firmware Ver: 1.24e[0m
e[0m[ INFO] [1530783370.358838661]: Hardware Rev: 5e[0m
e[0m[ INFO] [1530783370.361117744]: RPLidar health status : 0e[0m
e[0m[ INFO] [1530783370.942202911]: current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1e[0m

Sadly I couldn’t upload these files.

Additionally I started teleop node and the bridge.

Thanks a lot

lukasz.mitka · October 30, 2018, 10:55am

On rqt_graph screen that you provided, there is node named /husarion - the one that is publishing to /cmd_vel and subscribing /pose.
What node is that and from which package is it?
By default, there is no node with this name in our tutorials.

Regards,
Łukasz

sobieski · October 30, 2018, 10:57am

Thats my own node. I’ve tried building a map without this node and it’s not working as well. I won’t be able to publish this node.
Have you seen this error in the master node log? Maybe that’s the problem?

Attached the output of rqt_graph and rqt_tf_tree for the same situtation without the husarion node:

Thanks

lukasz.mitka · October 30, 2018, 11:16am

That error seems to be caused by call to nonexistent resource - but is occured after you pressed Ctrl+C, then some of the nodes are already down.

Could you try to create new workspace and go through this tutorial, following it strictly? I want to make sure, that the problem is not caused by other nodes.

Regards,
Łukasz

sobieski · October 30, 2018, 11:17am

Sure. I’ll do that right away and get back. I guess you mean the initial tutorial link.

sobieski · October 30, 2018, 1:30pm

So I created a new workspace and tried it out. No success. Attached all corresponding files and screenshots to reproduce.

Screenshot from rviz showing a correctly working lidar:

Logfiles:

Gmapping:

e[0m[ INFO] [1530795089.834763124]: Laser is mounted upwards.e[0m
 -maxUrange 11.99 -maxUrange 11.99 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.1 -particles 30
e[0m[ INFO] [1530795089.850418624]: Initialization completee[0m
update frame 0
update ld=0 ad=0
m_count 0
Registering First Scan

Master log:

[rosmaster.main][INFO] 2018-07-05 14:51:26,227: initialization complete, waiting for shutdown
[rosmaster.main][INFO] 2018-07-05 14:51:26,227: Starting ROS Master Node
[xmlrpc][INFO] 2018-07-05 14:51:26,238: XML-RPC server binding to :::11311
[xmlrpc][INFO] 2018-07-05 14:51:26,239: binding ipv6 xmlrpc socket to('::', 11311)
[xmlrpc][INFO] 2018-07-05 14:51:26,239: bound to ('::', 11311)
[xmlrpc][INFO] 2018-07-05 14:51:26,239: Started XML-RPC server [http://husarion-2469:11311/]
[rosmaster.master][INFO] 2018-07-05 14:51:26,240: Master initialized: port[11311], uri[http://husarion-2469:11311/]
[xmlrpc][INFO] 2018-07-05 14:51:26,240: xml rpc node: starting XML-RPC server
[rosmaster.master][INFO] 2018-07-05 14:51:26,342: +PARAM [/run_id] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:26,345: +PARAM [/roslaunch/uris/host_husarion_2469__44774] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:26,443: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:26,444: +PARAM [/gmapping/odom_frame] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:26,444: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:26,444: +PARAM [/gmapping/delta] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:26,445: +PARAM [/gmapping/base_frame] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:26,461: +SERVICE [/rosout/get_loggers] /rosout http://husarion-2469:44562/
[rosmaster.master][INFO] 2018-07-05 14:51:26,464: +SERVICE [/rosout/set_logger_level] /rosout http://husarion-2469:44562/
[rosmaster.master][INFO] 2018-07-05 14:51:26,471: +PUB [/rosout_agg] /rosout http://husarion-2469:44562/
[rosmaster.master][INFO] 2018-07-05 14:51:26,488: +SUB [/rosout] /rosout http://husarion-2469:44562/
[rosmaster.master][INFO] 2018-07-05 14:51:26,558: +PUB [/rosout] /rplidar http://husarion-2469:38235/
[rosmaster.master][INFO] 2018-07-05 14:51:26,579: +PUB [/rosout] /drive_controller http://husarion-2469:34701/
[rosmaster.master][INFO] 2018-07-05 14:51:26,588: +SERVICE [/rplidar/get_loggers] /rplidar http://husarion-2469:38235/
[rosmaster.master][INFO] 2018-07-05 14:51:26,590: +SERVICE [/drive_controller/get_loggers] /drive_controller http://husarion-2469:34701/
[rosmaster.master][INFO] 2018-07-05 14:51:26,593: +SERVICE [/rplidar/set_logger_level] /rplidar http://husarion-2469:38235/
[rosmaster.master][INFO] 2018-07-05 14:51:26,596: +SERVICE [/drive_controller/set_logger_level] /drive_controller http://husarion-2469:34701/
[rosmaster.master][INFO] 2018-07-05 14:51:26,607: +PUB [/scan] /rplidar http://husarion-2469:38235/
[rosmaster.master][INFO] 2018-07-05 14:51:26,628: +PUB [/rosout] /laser_broadcaster http://husarion-2469:34879/
[rosmaster.master][INFO] 2018-07-05 14:51:26,629: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/']
[rosmaster.master][INFO] 2018-07-05 14:51:26,641: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/']: sec=0.01, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:51:26,641: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/']
[rosmaster.master][INFO] 2018-07-05 14:51:26,645: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:51:26,647: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/']
[rosmaster.master][INFO] 2018-07-05 14:51:26,650: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:51:26,650: +SERVICE [/laser_broadcaster/get_loggers] /laser_broadcaster http://husarion-2469:34879/
[rosmaster.master][INFO] 2018-07-05 14:51:26,662: +PUB [/rosout] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,665: +SERVICE [/laser_broadcaster/set_logger_level] /laser_broadcaster http://husarion-2469:34879/
[rosmaster.master][INFO] 2018-07-05 14:51:26,670: +SERVICE [/gmapping/get_loggers] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,679: +SUB [/pose] /drive_controller http://husarion-2469:34701/
[rosmaster.master][INFO] 2018-07-05 14:51:26,686: +SERVICE [/gmapping/set_logger_level] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,687: +PUB [/tf] /laser_broadcaster http://husarion-2469:34879/
[rosmaster.master][INFO] 2018-07-05 14:51:26,706: +SUB [/tf] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,726: +SUB [/tf_static] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,729: +PUB [/tf] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,730: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/']
[rosmaster.master][INFO] 2018-07-05 14:51:26,730: publisherUpdate[/tf] -> http://husarion-2469:45341/ ['http://husarion-2469:34879/', 'http://husarion-2469:45341/']
[rosmaster.master][INFO] 2018-07-05 14:51:26,733: publisherUpdate[/tf] -> http://husarion-2469:45341/ ['http://husarion-2469:34879/', 'http://husarion-2469:45341/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:51:26,734: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:51:26,813: +PUB [/gmapping/entropy] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,821: +PUB [/map] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,825: +PUB [/map_metadata] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,827: +SERVICE [/dynamic_map] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:26,851: +SUB [/scan] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:51:27,145: +PUB [/rosout] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:51:27,152: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:45945/']
[rosmaster.master][INFO] 2018-07-05 14:51:27,154: +SERVICE [/serial_node/get_loggers] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:51:27,154: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:45945/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:51:27,157: +SERVICE [/serial_node/set_logger_level] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:51:27,180: +PUB [/diagnostics] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:51:27,198: +SERVICE [/stop_motor] /rplidar http://husarion-2469:38235/
[rosmaster.master][INFO] 2018-07-05 14:51:27,200: +SERVICE [/start_motor] /rplidar http://husarion-2469:38235/
[rosmaster.master][INFO] 2018-07-05 14:51:29,323: +PUB [/battery] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:51:29,335: +PUB [/pose] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:51:29,339: publisherUpdate[/pose] -> http://husarion-2469:34701/ ['http://husarion-2469:45945/']
[rosmaster.master][INFO] 2018-07-05 14:51:29,343: publisherUpdate[/pose] -> http://husarion-2469:34701/ ['http://husarion-2469:45945/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:51:29,348: +SUB [/cmd_vel] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:51:29,364: +SUB [/reset_odom] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:51:29,490: +PUB [/tf] /drive_controller http://husarion-2469:34701/
[rosmaster.master][INFO] 2018-07-05 14:51:29,541: publisherUpdate[/tf] -> http://husarion-2469:45341/ ['http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:34701/']
[rosmaster.master][INFO] 2018-07-05 14:51:29,545: publisherUpdate[/tf] -> http://husarion-2469:45341/ ['http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:34701/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:51:38,858: +PARAM [/roslaunch/uris/host_husarion_2469__41861] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:38,868: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:38,869: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2018-07-05 14:51:39,966: +PUB [/cmd_vel] /teleop_twist_keyboard http://husarion-2469:46639/
[rosmaster.master][INFO] 2018-07-05 14:51:39,976: publisherUpdate[/cmd_vel] -> http://husarion-2469:45945/ ['http://husarion-2469:46639/']
[rosmaster.master][INFO] 2018-07-05 14:51:39,980: publisherUpdate[/cmd_vel] -> http://husarion-2469:45945/ ['http://husarion-2469:46639/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:51:40,063: +PUB [/rosout] /teleop_twist_keyboard http://husarion-2469:46639/
[rosmaster.master][INFO] 2018-07-05 14:51:40,071: +SERVICE [/teleop_twist_keyboard/get_loggers] /teleop_twist_keyboard http://husarion-2469:46639/
[rosmaster.master][INFO] 2018-07-05 14:51:40,075: +SERVICE [/teleop_twist_keyboard/set_logger_level] /teleop_twist_keyboard http://husarion-2469:46639/
[rosmaster.master][INFO] 2018-07-05 14:51:40,082: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:45945/', 'http://husarion-2469:46639/']
[rosmaster.master][INFO] 2018-07-05 14:51:40,085: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:45945/', 'http://husarion-2469:46639/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:52:33,327: +PUB [/rosout] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,330: +SERVICE [/rviz_1530795153318604030/get_loggers] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,332: +SERVICE [/rviz_1530795153318604030/set_logger_level] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,359: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:45945/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']
[rosmaster.master][INFO] 2018-07-05 14:52:33,365: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:45945/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:52:33,638: +SUB [/tf] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,670: +SUB [/tf_static] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,862: +PUB [/initialpose] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,867: +PUB [/goal] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,908: +SUB [/map] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,919: +SUB [/map_updates] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,935: +SUB [/scan] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,940: -PUB [/goal] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,942: -PUB [/initialpose] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,956: +PUB [/initialpose] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,960: +PUB [/goal] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,962: +PUB [/move_base_simple/goal] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,964: -PUB [/goal] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:33,967: +PUB [/clicked_point] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:52:35,022: +SERVICE [/rviz_1530795153318604030/reload_shaders] /rviz_1530795153318604030 http://husarion-2469:38087/
[rosmaster.master][INFO] 2018-07-05 14:57:11,841: -SUB [/cmd_vel] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:57:11,842: -SUB [/reset_odom] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:57:11,842: -PUB [/diagnostics] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:57:11,843: -PUB [/battery] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:57:11,843: -PUB [/rosout] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:57:11,844: -PUB [/pose] /serial_node http://husarion-2469:45945/
[rosmaster.master][INFO] 2018-07-05 14:57:11,844: -SERVICE [/serial_node/get_loggers] /serial_node rosrpc://husarion-2469:33258
[rosmaster.master][INFO] 2018-07-05 14:57:11,844: -SERVICE [/serial_node/set_logger_level] /serial_node rosrpc://husarion-2469:33258
[rosmaster.master][INFO] 2018-07-05 14:57:11,870: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']
[rosmaster.master][INFO] 2018-07-05 14:57:11,873: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:45341/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:57:11,873: publisherUpdate[/pose] -> http://husarion-2469:34701/ []
[rosmaster.master][INFO] 2018-07-05 14:57:11,875: publisherUpdate[/pose] -> http://husarion-2469:34701/ []: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:57:11,907: -PUB [/rosout] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:57:11,925: -PUB [/tf] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:57:11,935: -PUB [/rosout] /rplidar http://husarion-2469:38235/
[rosmaster.master][INFO] 2018-07-05 14:57:11,939: -PUB [/gmapping/entropy] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:57:11,940: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']
[rosmaster.master][INFO] 2018-07-05 14:57:11,940: publisherUpdate[/tf] -> http://husarion-2469:45341/ ['http://husarion-2469:34879/', 'http://husarion-2469:34701/']
[rosmaster.master][INFO] 2018-07-05 14:57:11,944: -PUB [/scan] /rplidar http://husarion-2469:38235/
[rosmaster.master][INFO] 2018-07-05 14:57:11,945: publisherUpdate[/tf] -> http://husarion-2469:45341/ ['http://husarion-2469:34879/', 'http://husarion-2469:34701/']: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.master][INFO] 2018-07-05 14:57:11,950: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:38235/', 'http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']: sec=0.01, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:57:11,956: publisherUpdate[/tf] -> http://husarion-2469:38087/ ['http://husarion-2469:34879/', 'http://husarion-2469:34701/']
[rosmaster.master][INFO] 2018-07-05 14:57:11,960: publisherUpdate[/tf] -> http://husarion-2469:38087/ ['http://husarion-2469:34879/', 'http://husarion-2469:34701/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:57:11,961: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']
[rosmaster.master][INFO] 2018-07-05 14:57:11,963: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:34701/', 'http://husarion-2469:34879/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:57:11,965: -PUB [/map] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:57:11,965: publisherUpdate[/scan] -> http://husarion-2469:45341/ []
[rosmaster.threadpool][ERROR] 2018-07-05 14:57:11,966: Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2018-07-05 14:57:11,969: -SERVICE [/rplidar/get_loggers] /rplidar rosrpc://husarion-2469:56053
[rosmaster.master][INFO] 2018-07-05 14:57:11,971: publisherUpdate[/scan] -> http://husarion-2469:38087/ []
[rosmaster.master][INFO] 2018-07-05 14:57:11,972: publisherUpdate[/scan] -> http://husarion-2469:45341/ []: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.master][INFO] 2018-07-05 14:57:11,975: publisherUpdate[/scan] -> http://husarion-2469:38087/ []: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:57:11,976: publisherUpdate[/map] -> http://husarion-2469:38087/ []
[rosmaster.master][INFO] 2018-07-05 14:57:11,985: publisherUpdate[/map] -> http://husarion-2469:38087/ []: sec=0.01, result=[1, '', 0]
[rosmaster.threadpool][ERROR] 2018-07-05 14:57:11,986: Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2018-07-05 14:57:11,994: -PUB [/map_metadata] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:57:11,997: -PUB [/rosout] /laser_broadcaster http://husarion-2469:34879/
[rosmaster.master][INFO] 2018-07-05 14:57:12,001: -SERVICE [/rplidar/set_logger_level] /rplidar rosrpc://husarion-2469:56053
[rosmaster.master][INFO] 2018-07-05 14:57:12,006: -PUB [/rosout] /drive_controller http://husarion-2469:34701/
[rosmaster.master][INFO] 2018-07-05 14:57:12,009: -PUB [/tf] /laser_broadcaster http://husarion-2469:34879/
[rosmaster.master][INFO] 2018-07-05 14:57:12,030: -SUB [/tf] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:57:12,054: -SERVICE [/stop_motor] /rplidar rosrpc://husarion-2469:56053
[rosmaster.master][INFO] 2018-07-05 14:57:12,060: -SERVICE [/laser_broadcaster/get_loggers] /laser_broadcaster rosrpc://husarion-2469:59433
[rosmaster.master][INFO] 2018-07-05 14:57:12,077: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:34701/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']
[rosmaster.master][INFO] 2018-07-05 14:57:12,080: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:34701/', 'http://husarion-2469:46639/', 'http://husarion-2469:38087/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:57:12,081: -SUB [/tf_static] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:57:12,082: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:46639/', 'http://husarion-2469:38087/']
[rosmaster.master][INFO] 2018-07-05 14:57:12,083: -PUB [/tf] /drive_controller http://husarion-2469:34701/
[rosmaster.master][INFO] 2018-07-05 14:57:12,085: publisherUpdate[/rosout] -> http://husarion-2469:44562/ ['http://husarion-2469:46639/', 'http://husarion-2469:38087/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:57:12,086: publisherUpdate[/tf] -> http://husarion-2469:45341/ ['http://husarion-2469:34701/']
[rosmaster.master][INFO] 2018-07-05 14:57:12,087: publisherUpdate[/tf] -> http://husarion-2469:38087/ ['http://husarion-2469:34701/']
[rosmaster.master][INFO] 2018-07-05 14:57:12,088: publisherUpdate[/tf] -> http://husarion-2469:45341/ ['http://husarion-2469:34701/']: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.master][INFO] 2018-07-05 14:57:12,091: publisherUpdate[/tf] -> http://husarion-2469:38087/ ['http://husarion-2469:34701/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2018-07-05 14:57:12,091: publisherUpdate[/tf] -> http://husarion-2469:38087/ []
[rosmaster.master][INFO] 2018-07-05 14:57:12,093: publisherUpdate[/tf] -> http://husarion-2469:38087/ []: sec=0.00, result=[1, '', 0]
[rosmaster.threadpool][ERROR] 2018-07-05 14:57:12,093: Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

[rosmaster.master][INFO] 2018-07-05 14:57:12,095: -SERVICE [/start_motor] /rplidar rosrpc://husarion-2469:56053
[rosmaster.master][INFO] 2018-07-05 14:57:12,109: -SERVICE [/laser_broadcaster/set_logger_level] /laser_broadcaster rosrpc://husarion-2469:59433
[rosmaster.master][INFO] 2018-07-05 14:57:12,129: -SUB [/scan] /gmapping http://husarion-2469:45341/
[rosmaster.master][INFO] 2018-07-05 14:57:12,135: -SUB [/pose] /drive_controller http://husarion-2469:34701/
[rosmaster.master][INFO] 2018-07-05 14:57:12,139: -SERVICE [/gmapping/get_loggers] /gmapping rosrpc://husarion-2469:48536
[rosmaster.master][INFO] 2018-07-05 14:57:12,153: -SERVICE [/drive_controller/get_loggers] /drive_controller rosrpc://husarion-2469:47379
[rosmaster.master][INFO] 2018-07-05 14:57:12,155: -SERVICE [/gmapping/set_logger_level] /gmapping rosrpc://husarion-2469:48536
[rosmaster.master][INFO] 2018-07-05 14:57:12,160: -SERVICE [/drive_controller/set_logger_level] /drive_controller rosrpc://husarion-2469:47379
[rosmaster.master][INFO] 2018-07-05 14:57:12,164: -SERVICE [/dynamic_map] /gmapping rosrpc://husarion-2469:48536
[rosmaster.master][INFO] 2018-07-05 14:57:12,899: -PUB [/rosout_agg] /rosout http://husarion-2469:44562/
[rosmaster.master][INFO] 2018-07-05 14:57:12,910: -SUB [/rosout] /rosout http://husarion-2469:44562/
[rosmaster.master][INFO] 2018-07-05 14:57:12,929: -SERVICE [/rosout/get_loggers] /rosout rosrpc://husarion-2469:60484
[rosmaster.master][INFO] 2018-07-05 14:57:12,936: -SERVICE [/rosout/set_logger_level] /rosout rosrpc://husarion-2469:60484
[rosmaster.main][INFO] 2018-07-05 14:57:13,108: keyboard interrupt, will exit
[rosmaster.main][INFO] 2018-07-05 14:57:13,109: stopping master...
[rospy.core][INFO] 2018-07-05 14:57:13,110: signal_shutdown [atexit]

Rqt graphs:

Log files are way to long to post in one post…

sobieski · October 30, 2018, 1:33pm

Log rosout:

1530795086.468877289  Node Startup
1530795086.685685956 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:203(main) [topics: /rosout, /scan] RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0
1530795087.194942373 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:128(standalone::rplidar::RPlidarDriver*)) [topics: /rosout, /scan] Firmware Ver: 1.24
1530795087.194991373 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:129(standalone::rplidar::RPlidarDriver*)) [topics: /rosout, /scan] Hardware Rev: 5
1530795087.196868831 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:140(standalone::rplidar::RPlidarDriver*)) [topics: /rosout, /scan] RPLidar health status : 0
1530795087.177490949 INFO [ros-core2-client:82(<module>) [topics: /rosout] Connecting to /dev/ttyS1 at 500000 baud
1530795087.768205623 INFO [/tmp/binarydeb/ros-kinetic-rplidar-ros-1.7.0/src/node.cpp:275(main) [topics: /rosout, /scan] current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1
1530795089.325273036 INFO [SerialClient.py:520(setPublishSize) [topics: /diagnostics, /battery, /rosout] Note: publish buffer size is 512 bytes
1530795089.326472997 INFO [SerialClient.py:536(setupPublisher) [topics: /diagnostics, /battery, /rosout] Setup publisher on /battery [sensor_msgs/BatteryState]
1530795089.338989019 INFO [SerialClient.py:536(setupPublisher) [topics: /diagnostics, /battery, /rosout, /pose] Setup publisher on /pose [geometry_msgs/PoseStamped]
1530795089.350220918 INFO [SerialClient.py:525(setSubscribeSize) [topics: /diagnostics, /battery, /rosout, /cmd_vel, /pose] Note: subscribe buffer size is 512 bytes
1530795089.351293087 INFO [SerialClient.py:549(setupSubscriber) [topics: /diagnostics, /battery, /rosout, /cmd_vel, /pose] Setup subscriber on /cmd_vel [geometry_msgs/Twist]
1530795089.366445064 INFO [SerialClient.py:549(setupSubscriber) [topics: /pose, /reset_odom, /diagnostics, /battery, /rosout, /cmd_vel] Setup subscriber on /reset_odom [std_msgs/Bool]
1530795089.834916541 INFO [/tmp/binarydeb/ros-kinetic-gmapping-1.3.10/src/slam_gmapping.cpp:447(initMapper) [topics: /rosout, /tf, /gmapping/entropy, /map, /map_metadata] Laser is mounted upwards.
1530795089.850445458 INFO [/tmp/binarydeb/ros-kinetic-gmapping-1.3.10/src/slam_gmapping.cpp:532(initMapper) [topics: /rosout, /tf, /gmapping/entropy, /map, /map_metadata] Initialization complete
1530795153.567628446 INFO [/tmp/binarydeb/ros-kinetic-rviz-1.12.16/src/rviz/ogre_helpers/render_system.cpp:430(RenderWindow* rviz::RenderSystem::makeRenderWindow) [topics: /rosout] Stereo is NOT SUPPORTED
1530795153.567824155 INFO [/tmp/binarydeb/ros-kinetic-rviz-1.12.16/src/rviz/ogre_helpers/render_system.cpp:211(RenderSystem::detectGlVersion) [topics: /rosout] OpenGl version: 3 (GLSL 1.3).
1530795155.367863364 INFO [/tmp/binarydeb/ros-kinetic-rviz-1.12.16/src/rviz/default_plugin/map_display.cpp:604(MapDisplay::createSwatches) [topics: /rosout, /initialpose, /move_base_simple/goal, /clicked_point] Creating 1 swatches
1530795431.802016973 INFO [SerialClient.py:409(txStopRequest) [topics: /pose, /reset_odom, /diagnostics, /battery, /rosout, /cmd_vel] Send tx stop request

Log Lidar:

e[0m[ INFO] [1530795086.685564623]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0e[0m
RPLIDAR S/N: CDF39AF2C1EA98D4BEEB9CF042203517
e[0m[ INFO] [1530795087.194920498]: Firmware Ver: 1.24e[0m
e[0m[ INFO] [1530795087.194981748]: Hardware Rev: 5e[0m
e[0m[ INFO] [1530795087.196852206]: RPLidar health status : 0e[0m
e[0m[ INFO] [1530795087.768175290]: current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1e[0m

Teleop log:

[rospy.client][INFO] 2018-07-05 14:51:39,956: init_node, name[/teleop_twist_keyboard], pid[9221]
[xmlrpc][INFO] 2018-07-05 14:51:39,957: XML-RPC server binding to :::0
[xmlrpc][INFO] 2018-07-05 14:51:39,958: binding ipv6 xmlrpc socket to('::', 0)
[xmlrpc][INFO] 2018-07-05 14:51:39,959: bound to ('::', 46639)
[xmlrpc][INFO] 2018-07-05 14:51:39,959: Started XML-RPC server [http://husarion-2469:46639/]
[rospy.init][INFO] 2018-07-05 14:51:39,960: ROS Slave URI: [http://husarion-2469:46639/]
[rospy.impl.masterslave][INFO] 2018-07-05 14:51:39,960: _ready: http://husarion-2469:46639/
[rospy.registration][INFO] 2018-07-05 14:51:39,962: Registering with master node http://master:11311
[xmlrpc][INFO] 2018-07-05 14:51:39,962: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2018-07-05 14:51:39,962: Registering publisher topic [/cmd_vel] type [geometry_msgs/Twist] with master
[rospy.internal][INFO] 2018-07-05 14:51:40,017: topic[/cmd_vel] adding connection to [/serial_node], count 0
[rospy.init][INFO] 2018-07-05 14:51:40,060: registered with master
[rospy.rosout][INFO] 2018-07-05 14:51:40,061: initializing /rosout core topic
[rospy.rosout][INFO] 2018-07-05 14:51:40,065: connected to core topic /rosout
[rospy.simtime][INFO] 2018-07-05 14:51:40,068: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rospy.internal][INFO] 2018-07-05 14:51:40,288: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2018-07-05 14:57:11,857: topic[/cmd_vel] adding connection to [/serial_node], count 1
[rospy.internal][INFO] 2018-07-05 14:57:11,857: topic[/cmd_vel] removing connection to /serial_node
[rospy.internal][INFO] 2018-07-05 14:57:12,250: topic[/cmd_vel] removing connection to /serial_node
[rospy.internal][INFO] 2018-07-05 14:57:13,253: topic[/rosout] removing connection to /rosout
[rospy.core][INFO] 2018-07-05 14:57:13,462: signal_shutdown [atexit]
[rospy.registration][WARNING] 2018-07-05 14:57:13,464: cannot unregister with master due to network issues
[rospy.impl.masterslave][INFO] 2018-07-05 14:57:13,465: atexit

Roslaunch steering.launch log:

[roslaunch][INFO] 2018-07-05 14:51:37,739: Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2018-07-05 14:51:37,768: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2018-07-05 14:51:37,769: roslaunch starting with args ['/opt/ros/kinetic/bin/roslaunch', 'steering.launch']
[roslaunch][INFO] 2018-07-05 14:51:37,769: roslaunch env is {'ROS_IPV6': 'on', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'SSH_CLIENT': '10.0.0.117 33358 22', 'LOGNAME': 'husarion', 'USER': 'husarion', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'HOME': '/home/husarion', 'CMAKE_PREFIX_PATH': '/home/husarion/Documents/drive_controller_node/devel:/home/husarion/catkin_ws/devel:/opt/ros/kinetic', 'LD_LIBRARY_PATH': '/home/husarion/Documents/drive_controller_node/devel/lib:/home/husarion/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'XDG_RUNTIME_DIR': '/run/user/1000', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'SHLVL': '1', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/roslaunch-husarion-2469-9196.log', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'SSH_INITIAL_SESSION': 'y', 'PYTHONPATH': '/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/husarion/Documents/drive_controller_node/devel/lib/pkgconfig:/home/husarion/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c4', '_': '/opt/ros/kinetic/bin/roslaunch', 'SSH_CONNECTION': '10.0.0.117 33358 10.0.0.118 22', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/1', 'OLDPWD': '/home/husarion/ros_workspace', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/husarion/Documents/drive_controller_node/devel/share/common-lisp:/home/husarion/catkin_ws/devel/share/common-lisp', 'PWD': '/home/husarion/ros_workspace/src/drive_node_controller_pkg/launch', 'ROS_MASTER_URI': 'http://master:11311', 'ROS_VERSION': '1', 'MAIL': '/var/mail/husarion', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'}
[roslaunch][INFO] 2018-07-05 14:51:37,770: starting in server mode
[roslaunch.parent][INFO] 2018-07-05 14:51:37,770: starting roslaunch parent run
[roslaunch][INFO] 2018-07-05 14:51:37,771: loading roscore config file /opt/ros/kinetic/etc/ros/roscore.xml
[roslaunch][INFO] 2018-07-05 14:51:38,817: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2018-07-05 14:51:38,818: loading config file steering.launch
[roslaunch][INFO] 2018-07-05 14:51:38,819: Added node of type [teleop_twist_keyboard/teleop_twist_keyboard.py] in namespace [/]
[roslaunch][INFO] 2018-07-05 14:51:38,820: ... selected machine [] for node of type [teleop_twist_keyboard/teleop_twist_keyboard.py]
[roslaunch.pmon][INFO] 2018-07-05 14:51:38,823: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2018-07-05 14:51:38,823: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2018-07-05 14:51:38,824: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2018-07-05 14:51:38,824: starting parent XML-RPC server
[roslaunch.server][INFO] 2018-07-05 14:51:38,825: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2018-07-05 14:51:38,825: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2018-07-05 14:51:38,825: XML-RPC server binding to :::0
[xmlrpc][INFO] 2018-07-05 14:51:38,826: binding ipv6 xmlrpc socket to('::', 0)
[xmlrpc][INFO] 2018-07-05 14:51:38,827: bound to ('::', 41861)
[xmlrpc][INFO] 2018-07-05 14:51:38,827: Started XML-RPC server [http://husarion-2469:41861/]
[xmlrpc][INFO] 2018-07-05 14:51:38,827: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2018-07-05 14:51:38,840: started roslaunch server http://husarion-2469:41861/
[roslaunch.parent][INFO] 2018-07-05 14:51:38,840: ... parent XML-RPC server started
[roslaunch][INFO] 2018-07-05 14:51:38,841: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:38,845: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:38,848: ROS_MASTER_URI=http://master:11311
[roslaunch][INFO] 2018-07-05 14:51:38,855: setting /roslaunch/uris/host_husarion_2469__41861' to http://husarion-2469:41861/
[roslaunch][INFO] 2018-07-05 14:51:38,863: load_parameters starting ...
[roslaunch][INFO] 2018-07-05 14:51:38,870: ... load_parameters complete
[roslaunch][INFO] 2018-07-05 14:51:38,871: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2018-07-05 14:51:38,871: ... preparing to launch node of type [teleop_twist_keyboard/teleop_twist_keyboard.py]
[roslaunch][INFO] 2018-07-05 14:51:38,872: create_node_process: package[teleop_twist_keyboard] type[teleop_twist_keyboard.py] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:38,872: process[teleop_twist_keyboard-1]: env[{'ROS_IPV6': 'on', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'SSH_CLIENT': '10.0.0.117 33358 22', 'LOGNAME': 'husarion', 'USER': 'husarion', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'HOME': '/home/husarion', 'CMAKE_PREFIX_PATH': '/home/husarion/Documents/drive_controller_node/devel:/home/husarion/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/roslaunch-husarion-2469-9196.log', 'SSH_INITIAL_SESSION': 'y', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/home/husarion/Documents/drive_controller_node/devel/lib:/home/husarion/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://master:11311', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/husarion/Documents/drive_controller_node/devel/lib/pkgconfig:/home/husarion/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c4', '_': '/opt/ros/kinetic/bin/roslaunch', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/1', 'OLDPWD': '/home/husarion/ros_workspace', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/husarion/Documents/drive_controller_node/devel/share/common-lisp:/home/husarion/catkin_ws/devel/share/common-lisp', 'PWD': '/home/husarion/ros_workspace/src/drive_node_controller_pkg/launch', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'MAIL': '/var/mail/husarion', 'SSH_CONNECTION': '10.0.0.117 33358 10.0.0.118 22'}]
[roslaunch][INFO] 2018-07-05 14:51:38,952: process[teleop_twist_keyboard-1]: args[[u'/opt/ros/kinetic/lib/teleop_twist_keyboard/teleop_twist_keyboard.py', u'__name:=teleop_twist_keyboard']]
[roslaunch][INFO] 2018-07-05 14:51:38,953: ... created process [teleop_twist_keyboard-1]
[roslaunch.pmon][INFO] 2018-07-05 14:51:38,953: ProcessMonitor.register[teleop_twist_keyboard-1]
[roslaunch.pmon][INFO] 2018-07-05 14:51:38,954: ProcessMonitor.register[teleop_twist_keyboard-1] complete
[roslaunch][INFO] 2018-07-05 14:51:38,954: ... registered process [teleop_twist_keyboard-1]
[roslaunch][INFO] 2018-07-05 14:51:38,954: process[teleop_twist_keyboard-1]: starting os process
[roslaunch][INFO] 2018-07-05 14:51:38,954: process[teleop_twist_keyboard-1]: start w/ args [[u'/opt/ros/kinetic/lib/teleop_twist_keyboard/teleop_twist_keyboard.py', u'__name:=teleop_twist_keyboard', u'__log:=/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/teleop_twist_keyboard-1.log']]
[roslaunch][INFO] 2018-07-05 14:51:38,955: process[teleop_twist_keyboard-1]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2018-07-05 14:51:38,964: process[teleop_twist_keyboard-1]: started with pid [9221]
[roslaunch][INFO] 2018-07-05 14:51:38,965: ... successfully launched [teleop_twist_keyboard-1]
[roslaunch][INFO] 2018-07-05 14:51:38,965: ... launch_nodes complete
[roslaunch.pmon][INFO] 2018-07-05 14:51:38,966: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon -1236458384)>
[roslaunch.parent][INFO] 2018-07-05 14:51:38,966: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2018-07-05 14:51:38,966: spin
[roslaunch][INFO] 2018-07-05 14:57:13,716: [teleop_twist_keyboard-1] process has finished cleanly
log file: /home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/teleop_twist_keyboard-1*.log
[roslaunch.pmon][INFO] 2018-07-05 14:57:13,717: ProcessMonitor.unregister[teleop_twist_keyboard-1] starting
[roslaunch.pmon][INFO] 2018-07-05 14:57:13,718: ProcessMonitor.unregister[teleop_twist_keyboard-1] complete
[roslaunch][INFO] 2018-07-05 14:57:13,719: all processes on machine have died, roslaunch will exit
[roslaunch.pmon][INFO] 2018-07-05 14:57:13,820: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1236458384)>
[roslaunch.pmon][INFO] 2018-07-05 14:57:13,821: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1236458384)>: remaining procs are []
[roslaunch.pmon][INFO] 2018-07-05 14:57:13,855: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2018-07-05 14:57:13,855: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2018-07-05 14:57:13,866: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2018-07-05 14:57:13,866: runner.stop()
[roslaunch][INFO] 2018-07-05 14:57:13,866: shutting down processing monitor...
[roslaunch][INFO] 2018-07-05 14:57:13,867: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon -1236458384)>
[roslaunch.pmon][INFO] 2018-07-05 14:57:13,867: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1236458384)>
[roslaunch][INFO] 2018-07-05 14:57:13,867: ... shutting down processing monitor complete
[roslaunch][INFO] 2018-07-05 14:57:13,868: done
[roslaunch.pmon][INFO] 2018-07-05 14:57:13,868: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1236458384)>
[rospy.core][INFO] 2018-07-05 14:57:13,869: signal_shutdown [atexit]

sobieski · October 30, 2018, 1:35pm

Roslaunch map.launch log:

[roslaunch][INFO] 2018-07-05 14:51:24,646: Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2018-07-05 14:51:24,671: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2018-07-05 14:51:24,672: roslaunch starting with args ['/opt/ros/kinetic/bin/roslaunch', 'map.launch']
[roslaunch][INFO] 2018-07-05 14:51:24,672: roslaunch env is {'ROS_IPV6': 'on', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'SSH_CLIENT': '10.0.0.117 33354 22', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'CMAKE_PREFIX_PATH': '/home/husarion/ros_workspace/devel:/home/husarion/Documents/drive_controller_node/devel:/home/husarion/catkin_ws/devel:/opt/ros/kinetic', 'LD_LIBRARY_PATH': '/home/husarion/ros_workspace/devel/lib:/home/husarion/Documents/drive_controller_node/devel/lib:/home/husarion/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'XDG_RUNTIME_DIR': '/run/user/1000', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'SHLVL': '1', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/roslaunch-husarion-2469-8995.log', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'SSH_INITIAL_SESSION': 'y', 'PYTHONPATH': '/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/husarion/ros_workspace/devel/lib/pkgconfig:/home/husarion/Documents/drive_controller_node/devel/lib/pkgconfig:/home/husarion/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/ros_workspace/src:/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c2', '_': '/opt/ros/kinetic/bin/roslaunch', 'SSH_CONNECTION': '10.0.0.117 33354 10.0.0.118 22', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/husarion/ros_workspace', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/husarion/ros_workspace/devel/share/common-lisp:/home/husarion/Documents/drive_controller_node/devel/share/common-lisp:/home/husarion/catkin_ws/devel/share/common-lisp', 'PWD': '/home/husarion/ros_workspace/src/drive_node_controller_pkg/launch', 'ROS_MASTER_URI': 'http://master:11311', 'ROS_VERSION': '1', 'MAIL': '/var/mail/husarion', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'}
[roslaunch][INFO] 2018-07-05 14:51:24,672: starting in server mode
[roslaunch.parent][INFO] 2018-07-05 14:51:24,673: starting roslaunch parent run
[roslaunch][INFO] 2018-07-05 14:51:24,673: loading roscore config file /opt/ros/kinetic/etc/ros/roscore.xml
[roslaunch][INFO] 2018-07-05 14:51:25,653: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2018-07-05 14:51:25,653: loading config file map.launch
[roslaunch][INFO] 2018-07-05 14:51:25,656: Added node of type [drive_controller_node/serial_bridge.sh] in namespace [/]
[roslaunch][INFO] 2018-07-05 14:51:25,657: Added node of type [rplidar_ros/rplidarNode] in namespace [/]
[roslaunch][INFO] 2018-07-05 14:51:25,658: Added node of type [drive_controller_node/drive_controller_node] in namespace [/]
[roslaunch][INFO] 2018-07-05 14:51:25,659: Added node of type [tf/static_transform_publisher] in namespace [/]
[roslaunch][INFO] 2018-07-05 14:51:25,660: Added node of type [gmapping/slam_gmapping] in namespace [/]
[roslaunch][INFO] 2018-07-05 14:51:25,661: ... selected machine [] for node of type [drive_controller_node/serial_bridge.sh]
[roslaunch][INFO] 2018-07-05 14:51:25,661: ... selected machine [] for node of type [rplidar_ros/rplidarNode]
[roslaunch][INFO] 2018-07-05 14:51:25,661: ... selected machine [] for node of type [drive_controller_node/drive_controller_node]
[roslaunch][INFO] 2018-07-05 14:51:25,661: ... selected machine [] for node of type [tf/static_transform_publisher]
[roslaunch][INFO] 2018-07-05 14:51:25,662: ... selected machine [] for node of type [gmapping/slam_gmapping]
[roslaunch.pmon][INFO] 2018-07-05 14:51:25,664: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2018-07-05 14:51:25,664: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2018-07-05 14:51:25,665: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2018-07-05 14:51:25,688: starting parent XML-RPC server
[roslaunch.server][INFO] 2018-07-05 14:51:25,689: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2018-07-05 14:51:25,689: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2018-07-05 14:51:25,689: XML-RPC server binding to :::0
[xmlrpc][INFO] 2018-07-05 14:51:25,690: binding ipv6 xmlrpc socket to('::', 0)
[xmlrpc][INFO] 2018-07-05 14:51:25,690: bound to ('::', 44774)
[xmlrpc][INFO] 2018-07-05 14:51:25,690: Started XML-RPC server [http://husarion-2469:44774/]
[xmlrpc][INFO] 2018-07-05 14:51:25,691: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2018-07-05 14:51:25,704: started roslaunch server http://husarion-2469:44774/
[roslaunch.parent][INFO] 2018-07-05 14:51:25,704: ... parent XML-RPC server started
[roslaunch][INFO] 2018-07-05 14:51:25,706: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:25,707: auto-starting new master
[roslaunch][INFO] 2018-07-05 14:51:25,707: create_master_process: rosmaster, /opt/ros/kinetic/share/ros, 11311, 3, None
[roslaunch][INFO] 2018-07-05 14:51:25,708: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']]
[roslaunch.pmon][INFO] 2018-07-05 14:51:25,708: ProcessMonitor.register[master]
[roslaunch.pmon][INFO] 2018-07-05 14:51:25,708: ProcessMonitor.register[master] complete
[roslaunch][INFO] 2018-07-05 14:51:25,709: process[master]: starting os process
[roslaunch][INFO] 2018-07-05 14:51:25,709: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', '__log:=/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/master.log']]
[roslaunch][INFO] 2018-07-05 14:51:25,709: process[master]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2018-07-05 14:51:25,723: process[master]: started with pid [9005]
[roslaunch][INFO] 2018-07-05 14:51:25,723: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:25,825: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:25,926: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,027: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,129: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,230: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,331: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,335: master.is_running[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,337: ROS_MASTER_URI=http://master:11311
[roslaunch][INFO] 2018-07-05 14:51:26,340: setting /run_id to 1fe5c1b8-8052-11e8-894e-f0038ca061f1
[roslaunch][INFO] 2018-07-05 14:51:26,343: setting /roslaunch/uris/host_husarion_2469__44774' to http://husarion-2469:44774/
[roslaunch][INFO] 2018-07-05 14:51:26,349: ... preparing to launch node of type [rosout/rosout]
[roslaunch][INFO] 2018-07-05 14:51:26,350: create_node_process: package[rosout] type[rosout] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,350: process[rosout-1]: env[{'ROS_IPV6': 'on', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'SSH_CLIENT': '10.0.0.117 33354 22', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'CMAKE_PREFIX_PATH': '/home/husarion/ros_workspace/devel:/home/husarion/Documents/drive_controller_node/devel:/home/husarion/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/roslaunch-husarion-2469-8995.log', 'SSH_INITIAL_SESSION': 'y', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/home/husarion/ros_workspace/devel/lib:/home/husarion/Documents/drive_controller_node/devel/lib:/home/husarion/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://master:11311', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/husarion/ros_workspace/devel/lib/pkgconfig:/home/husarion/Documents/drive_controller_node/devel/lib/pkgconfig:/home/husarion/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/ros_workspace/src:/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c2', '_': '/opt/ros/kinetic/bin/roslaunch', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/husarion/ros_workspace', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/husarion/ros_workspace/devel/share/common-lisp:/home/husarion/Documents/drive_controller_node/devel/share/common-lisp:/home/husarion/catkin_ws/devel/share/common-lisp', 'PWD': '/home/husarion/ros_workspace/src/drive_node_controller_pkg/launch', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'MAIL': '/var/mail/husarion', 'SSH_CONNECTION': '10.0.0.117 33354 10.0.0.118 22'}]
[roslaunch][INFO] 2018-07-05 14:51:26,427: process[rosout-1]: args[[u'/opt/ros/kinetic/lib/rosout/rosout', u'__name:=rosout']]
[roslaunch][INFO] 2018-07-05 14:51:26,428: ... created process [rosout-1]
[roslaunch.pmon][INFO] 2018-07-05 14:51:26,428: ProcessMonitor.register[rosout-1]
[roslaunch.pmon][INFO] 2018-07-05 14:51:26,428: ProcessMonitor.register[rosout-1] complete
[roslaunch][INFO] 2018-07-05 14:51:26,429: ... registered process [rosout-1]
[roslaunch][INFO] 2018-07-05 14:51:26,429: process[rosout-1]: starting os process
[roslaunch][INFO] 2018-07-05 14:51:26,429: process[rosout-1]: start w/ args [[u'/opt/ros/kinetic/lib/rosout/rosout', u'__name:=rosout', u'__log:=/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/rosout-1.log']]
[roslaunch][INFO] 2018-07-05 14:51:26,429: process[rosout-1]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2018-07-05 14:51:26,435: process[rosout-1]: started with pid [9018]
[roslaunch][INFO] 2018-07-05 14:51:26,436: ... successfully launched [rosout-1]
[roslaunch][INFO] 2018-07-05 14:51:26,437: load_parameters starting ...
[roslaunch][INFO] 2018-07-05 14:51:26,447: ... load_parameters complete
[roslaunch][INFO] 2018-07-05 14:51:26,447: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2018-07-05 14:51:26,448: ... preparing to launch node of type [drive_controller_node/serial_bridge.sh]
[roslaunch][INFO] 2018-07-05 14:51:26,449: create_node_process: package[drive_controller_node] type[serial_bridge.sh] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,449: process[bridge-2]: env[{'ROS_IPV6': 'on', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'SSH_CLIENT': '10.0.0.117 33354 22', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'CMAKE_PREFIX_PATH': '/home/husarion/ros_workspace/devel:/home/husarion/Documents/drive_controller_node/devel:/home/husarion/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/roslaunch-husarion-2469-8995.log', 'SSH_INITIAL_SESSION': 'y', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/home/husarion/ros_workspace/devel/lib:/home/husarion/Documents/drive_controller_node/devel/lib:/home/husarion/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://master:11311', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/husarion/ros_workspace/devel/lib/pkgconfig:/home/husarion/Documents/drive_controller_node/devel/lib/pkgconfig:/home/husarion/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/ros_workspace/src:/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c2', '_': '/opt/ros/kinetic/bin/roslaunch', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/husarion/ros_workspace', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/husarion/ros_workspace/devel/share/common-lisp:/home/husarion/Documents/drive_controller_node/devel/share/common-lisp:/home/husarion/catkin_ws/devel/share/common-lisp', 'PWD': '/home/husarion/ros_workspace/src/drive_node_controller_pkg/launch', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'MAIL': '/var/mail/husarion', 'SSH_CONNECTION': '10.0.0.117 33354 10.0.0.118 22'}]
[roslaunch][INFO] 2018-07-05 14:51:26,452: process[bridge-2]: args[[u'/home/husarion/ros_workspace/src/drive_node_controller_pkg/scripts/serial_bridge.sh', u'__name:=bridge']]
[roslaunch][INFO] 2018-07-05 14:51:26,453: ... created process [bridge-2]
[roslaunch.pmon][INFO] 2018-07-05 14:51:26,453: ProcessMonitor.register[bridge-2]
[roslaunch.pmon][INFO] 2018-07-05 14:51:26,453: ProcessMonitor.register[bridge-2] complete
[roslaunch][INFO] 2018-07-05 14:51:26,453: ... registered process [bridge-2]
[roslaunch][INFO] 2018-07-05 14:51:26,454: process[bridge-2]: starting os process
[roslaunch][INFO] 2018-07-05 14:51:26,454: process[bridge-2]: start w/ args [[u'/home/husarion/ros_workspace/src/drive_node_controller_pkg/scripts/serial_bridge.sh', u'__name:=bridge', u'__log:=/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/bridge-2.log']]
[roslaunch][INFO] 2018-07-05 14:51:26,454: process[bridge-2]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2018-07-05 14:51:26,466: process[bridge-2]: started with pid [9022]
[roslaunch][INFO] 2018-07-05 14:51:26,466: ... successfully launched [bridge-2]
[roslaunch][INFO] 2018-07-05 14:51:26,467: ... preparing to launch node of type [rplidar_ros/rplidarNode]
[roslaunch][INFO] 2018-07-05 14:51:26,467: create_node_process: package[rplidar_ros] type[rplidarNode] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,468: process[rplidar-3]: env[{'ROS_IPV6': 'on', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'SSH_CLIENT': '10.0.0.117 33354 22', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'CMAKE_PREFIX_PATH': '/home/husarion/ros_workspace/devel:/home/husarion/Documents/drive_controller_node/devel:/home/husarion/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/roslaunch-husarion-2469-8995.log', 'SSH_INITIAL_SESSION': 'y', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/home/husarion/ros_workspace/devel/lib:/home/husarion/Documents/drive_controller_node/devel/lib:/home/husarion/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://master:11311', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/husarion/ros_workspace/devel/lib/pkgconfig:/home/husarion/Documents/drive_controller_node/devel/lib/pkgconfig:/home/husarion/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/ros_workspace/src:/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c2', '_': '/opt/ros/kinetic/bin/roslaunch', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/husarion/ros_workspace', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/husarion/ros_workspace/devel/share/common-lisp:/home/husarion/Documents/drive_controller_node/devel/share/common-lisp:/home/husarion/catkin_ws/devel/share/common-lisp', 'PWD': '/home/husarion/ros_workspace/src/drive_node_controller_pkg/launch', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'MAIL': '/var/mail/husarion', 'SSH_CONNECTION': '10.0.0.117 33354 10.0.0.118 22'}]
[roslaunch][INFO] 2018-07-05 14:51:26,476: process[rplidar-3]: args[[u'/opt/ros/kinetic/lib/rplidar_ros/rplidarNode', u'__name:=rplidar']]
[roslaunch][INFO] 2018-07-05 14:51:26,476: ... created process [rplidar-3]
[roslaunch.pmon][INFO] 2018-07-05 14:51:26,477: ProcessMonitor.register[rplidar-3]
[roslaunch.pmon][INFO] 2018-07-05 14:51:26,477: ProcessMonitor.register[rplidar-3] complete
[roslaunch][INFO] 2018-07-05 14:51:26,477: ... registered process [rplidar-3]
[roslaunch][INFO] 2018-07-05 14:51:26,478: process[rplidar-3]: starting os process
[roslaunch][INFO] 2018-07-05 14:51:26,478: process[rplidar-3]: start w/ args [[u'/opt/ros/kinetic/lib/rplidar_ros/rplidarNode', u'__name:=rplidar', u'__log:=/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/rplidar-3.log']]
[roslaunch][INFO] 2018-07-05 14:51:26,479: process[rplidar-3]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2018-07-05 14:51:26,486: process[rplidar-3]: started with pid [9034]
[roslaunch][INFO] 2018-07-05 14:51:26,487: ... successfully launched [rplidar-3]
[roslaunch][INFO] 2018-07-05 14:51:26,487: ... preparing to launch node of type [drive_controller_node/drive_controller_node]
[roslaunch][INFO] 2018-07-05 14:51:26,487: create_node_process: package[drive_controller_node] type[drive_controller_node] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,488: process[drive_controller-4]: env[{'ROS_IPV6': 'on', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'SSH_CLIENT': '10.0.0.117 33354 22', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'CMAKE_PREFIX_PATH': '/home/husarion/ros_workspace/devel:/home/husarion/Documents/drive_controller_node/devel:/home/husarion/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/roslaunch-husarion-2469-8995.log', 'SSH_INITIAL_SESSION': 'y', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/home/husarion/ros_workspace/devel/lib:/home/husarion/Documents/drive_controller_node/devel/lib:/home/husarion/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://master:11311', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/husarion/ros_workspace/devel/lib/pkgconfig:/home/husarion/Documents/drive_controller_node/devel/lib/pkgconfig:/home/husarion/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/ros_workspace/src:/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c2', '_': '/opt/ros/kinetic/bin/roslaunch', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/husarion/ros_workspace', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/husarion/ros_workspace/devel/share/common-lisp:/home/husarion/Documents/drive_controller_node/devel/share/common-lisp:/home/husarion/catkin_ws/devel/share/common-lisp', 'PWD': '/home/husarion/ros_workspace/src/drive_node_controller_pkg/launch', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'MAIL': '/var/mail/husarion', 'SSH_CONNECTION': '10.0.0.117 33354 10.0.0.118 22'}]
[roslaunch][INFO] 2018-07-05 14:51:26,491: process[drive_controller-4]: args[[u'/home/husarion/ros_workspace/devel/lib/drive_controller_node/drive_controller_node', u'__name:=drive_controller']]
[roslaunch][INFO] 2018-07-05 14:51:26,491: ... created process [drive_controller-4]
[roslaunch.pmon][INFO] 2018-07-05 14:51:26,492: ProcessMonitor.register[drive_controller-4]
[roslaunch.pmon][INFO] 2018-07-05 14:51:26,492: ProcessMonitor.register[drive_controller-4] complete
[roslaunch][INFO] 2018-07-05 14:51:26,492: ... registered process [drive_controller-4]
[roslaunch][INFO] 2018-07-05 14:51:26,493: process[drive_controller-4]: starting os process
[roslaunch][INFO] 2018-07-05 14:51:26,493: process[drive_controller-4]: start w/ args [[u'/home/husarion/ros_workspace/devel/lib/drive_controller_node/drive_controller_node', u'__name:=drive_controller', u'__log:=/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/drive_controller-4.log']]
[roslaunch][INFO] 2018-07-05 14:51:26,494: process[drive_controller-4]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2018-07-05 14:51:26,518: process[drive_controller-4]: started with pid [9038]
[roslaunch][INFO] 2018-07-05 14:51:26,520: ... successfully launched [drive_controller-4]
[roslaunch][INFO] 2018-07-05 14:51:26,521: ... preparing to launch node of type [tf/static_transform_publisher]
[roslaunch][INFO] 2018-07-05 14:51:26,521: create_node_process: package[tf] type[static_transform_publisher] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://master:11311]
[roslaunch][INFO] 2018-07-05 14:51:26,521: process[laser_broadcaster-5]: env[{'ROS_IPV6': 'on', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'SSH_CLIENT': '10.0.0.117 33354 22', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games',

sobieski · October 30, 2018, 1:36pm

Rest of map.launch log:

'CMAKE_PREFIX_PATH': '/home/husarion/ros_workspace/devel:/home/husarion/Documents/drive_controller_node/devel:/home/husarion/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/roslaunch-husarion-2469-8995.log', 'SSH_INITIAL_SESSION': 'y', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/home/husarion/ros_workspace/devel/lib:/home/husarion/Documents/drive_controller_node/devel/lib:/home/husarion/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://master:11311', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/husarion/ros_workspace/devel/lib/pkgconfig:/home/husarion/Documents/drive_controller_node/devel/lib/pkgconfig:/home/husarion/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/ros_workspace/src:/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c2', '_': '/opt/ros/kinetic/bin/roslaunch', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/husarion/ros_workspace', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/husarion/ros_workspace/devel/share/common-lisp:/home/husarion/Documents/drive_controller_node/devel/share/common-lisp:/home/husarion/catkin_ws/devel/share/common-lisp', 'PWD': '/home/husarion/ros_workspace/src/drive_node_controller_pkg/launch', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'MAIL': '/var/mail/husarion', 'SSH_CONNECTION': '10.0.0.117 33354 10.0.0.118 22'}]
    [roslaunch][INFO] 2018-07-05 14:51:26,525: process[laser_broadcaster-5]: args[[u'/opt/ros/kinetic/lib/tf/static_transform_publisher', '0', '0', '0', '3.14', '0', '0', 'base_link', 'laser_frame', '100', u'__name:=laser_broadcaster']]
    [roslaunch][INFO] 2018-07-05 14:51:26,526: ... created process [laser_broadcaster-5]
    [roslaunch.pmon][INFO] 2018-07-05 14:51:26,526: ProcessMonitor.register[laser_broadcaster-5]
    [roslaunch.pmon][INFO] 2018-07-05 14:51:26,526: ProcessMonitor.register[laser_broadcaster-5] complete
    [roslaunch][INFO] 2018-07-05 14:51:26,527: ... registered process [laser_broadcaster-5]
    [roslaunch][INFO] 2018-07-05 14:51:26,527: process[laser_broadcaster-5]: starting os process
    [roslaunch][INFO] 2018-07-05 14:51:26,527: process[laser_broadcaster-5]: start w/ args [[u'/opt/ros/kinetic/lib/tf/static_transform_publisher', '0', '0', '0', '3.14', '0', '0', 'base_link', 'laser_frame', '100', u'__name:=laser_broadcaster', u'__log:=/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/laser_broadcaster-5.log']]
    [roslaunch][INFO] 2018-07-05 14:51:26,528: process[laser_broadcaster-5]: cwd will be [/home/husarion/.ros]
    [roslaunch][INFO] 2018-07-05 14:51:26,544: process[laser_broadcaster-5]: started with pid [9040]
    [roslaunch][INFO] 2018-07-05 14:51:26,545: ... successfully launched [laser_broadcaster-5]
    [roslaunch][INFO] 2018-07-05 14:51:26,546: ... preparing to launch node of type [gmapping/slam_gmapping]
    [roslaunch][INFO] 2018-07-05 14:51:26,547: create_node_process: package[gmapping] type[slam_gmapping] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://master:11311]
    [roslaunch][INFO] 2018-07-05 14:51:26,547: process[gmapping-6]: env[{'ROS_IPV6': 'on', 'ROS_DISTRO': 'kinetic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'SSH_CLIENT': '10.0.0.117 33354 22', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'PATH': '/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'CMAKE_PREFIX_PATH': '/home/husarion/ros_workspace/devel:/home/husarion/Documents/drive_controller_node/devel:/home/husarion/catkin_ws/devel:/opt/ros/kinetic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/roslaunch-husarion-2469-8995.log', 'SSH_INITIAL_SESSION': 'y', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/home/husarion/ros_workspace/devel/lib:/home/husarion/Documents/drive_controller_node/devel/lib:/home/husarion/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/arm-linux-gnueabihf', 'ROS_MASTER_URI': 'http://master:11311', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/opt/ros/kinetic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/kinetic/share/ros', 'PKG_CONFIG_PATH': '/home/husarion/ros_workspace/devel/lib/pkgconfig:/home/husarion/Documents/drive_controller_node/devel/lib/pkgconfig:/home/husarion/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/arm-linux-gnueabihf/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/ros_workspace/src:/opt/ros/kinetic/share', 'XDG_SESSION_ID': 'c2', '_': '/opt/ros/kinetic/bin/roslaunch', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/husarion/ros_workspace', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/husarion/ros_workspace/devel/share/common-lisp:/home/husarion/Documents/drive_controller_node/devel/share/common-lisp:/home/husarion/catkin_ws/devel/share/common-lisp', 'PWD': '/home/husarion/ros_workspace/src/drive_node_controller_pkg/launch', 'ROS_ETC_DIR': '/opt/ros/kinetic/etc/ros', 'ROS_VERSION': '1', 'MAIL': '/var/mail/husarion', 'SSH_CONNECTION': '10.0.0.117 33354 10.0.0.118 22'}]
    [roslaunch][INFO] 2018-07-05 14:51:26,552: process[gmapping-6]: args[[u'/opt/ros/kinetic/lib/gmapping/slam_gmapping', u'__name:=gmapping']]
    [roslaunch][INFO] 2018-07-05 14:51:26,552: ... created process [gmapping-6]
    [roslaunch.pmon][INFO] 2018-07-05 14:51:26,553: ProcessMonitor.register[gmapping-6]
    [roslaunch.pmon][INFO] 2018-07-05 14:51:26,553: ProcessMonitor.register[gmapping-6] complete
    [roslaunch][INFO] 2018-07-05 14:51:26,554: ... registered process [gmapping-6]
    [roslaunch][INFO] 2018-07-05 14:51:26,554: process[gmapping-6]: starting os process
    [roslaunch][INFO] 2018-07-05 14:51:26,555: process[gmapping-6]: start w/ args [[u'/opt/ros/kinetic/lib/gmapping/slam_gmapping', u'__name:=gmapping', u'__log:=/home/husarion/.ros/log/1fe5c1b8-8052-11e8-894e-f0038ca061f1/gmapping-6.log']]
    [roslaunch][INFO] 2018-07-05 14:51:26,556: process[gmapping-6]: cwd will be [/home/husarion/.ros]
    [roslaunch][INFO] 2018-07-05 14:51:26,573: process[gmapping-6]: started with pid [9045]
    [roslaunch][INFO] 2018-07-05 14:51:26,573: ... successfully launched [gmapping-6]
    [roslaunch][INFO] 2018-07-05 14:51:26,574: ... launch_nodes complete
    [roslaunch.pmon][INFO] 2018-07-05 14:51:26,575: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon -1237646224)>
    [roslaunch.parent][INFO] 2018-07-05 14:51:26,575: ... roslaunch parent running, waiting for process exit
    [roslaunch][INFO] 2018-07-05 14:51:26,575: spin
    [roslaunch.pmon][INFO] 2018-07-05 14:57:11,691: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon -1237646224)>
    [roslaunch.pmon][INFO] 2018-07-05 14:57:11,757: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1237646224)>
    [roslaunch.pmon][INFO] 2018-07-05 14:57:11,758: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1237646224)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0xb63bdd90>, <roslaunch.nodeprocess.LocalProcess object at 0xb63bdf70>, <roslaunch.nodeprocess.LocalProcess object at 0xb63bdc90>, <roslaunch.nodeprocess.LocalProcess object at 0xb63bdbf0>, <roslaunch.nodeprocess.LocalProcess object at 0xb63db470>, <roslaunch.nodeprocess.LocalProcess object at 0xb63db310>, <roslaunch.nodeprocess.LocalProcess object at 0xb63db390>]
    [roslaunch.pmon][INFO] 2018-07-05 14:57:11,761: ProcessMonitor exit: killing gmapping-6
    [roslaunch][INFO] 2018-07-05 14:57:11,762: [gmapping-6] killing on exit
    [roslaunch][INFO] 2018-07-05 14:57:11,763: process[gmapping-6]: killing os process with pid[9045] pgid[9045]
    [roslaunch][INFO] 2018-07-05 14:57:11,763: [gmapping-6] sending SIGINT to pgid [9045]
    [roslaunch][INFO] 2018-07-05 14:57:11,764: [gmapping-6] sent SIGINT to pgid [9045]
    [roslaunch.pmon][INFO] 2018-07-05 14:57:11,766: ProcessMonitor exit: killing laser_broadcaster-5
    [roslaunch][INFO] 2018-07-05 14:57:11,768: [laser_broadcaster-5] killing on exit
    [roslaunch.pmon][INFO] 2018-07-05 14:57:11,769: ProcessMonitor exit: killing drive_controller-4
    [roslaunch][INFO] 2018-07-05 14:57:11,769: process[laser_broadcaster-5]: killing os process with pid[9040] pgid[9040]
    [roslaunch][INFO] 2018-07-05 14:57:11,771: [laser_broadcaster-5] sending SIGINT to pgid [9040]
    [roslaunch][INFO] 2018-07-05 14:57:11,771: [drive_controller-4] killing on exit
    [roslaunch][INFO] 2018-07-05 14:57:11,771: [laser_broadcaster-5] sent SIGINT to pgid [9040]
    [roslaunch.pmon][INFO] 2018-07-05 14:57:11,770: ProcessMonitor exit: killing rplidar-3
    [roslaunch][INFO] 2018-07-05 14:57:11,773: process[drive_controller-4]: killing os process with pid[9038] pgid[9038]
    [roslaunch][INFO] 2018-07-05 14:57:11,776: [drive_controller-4] sending SIGINT to pgid [9038]
    [roslaunch][INFO] 2018-07-05 14:57:11,775: [rplidar-3] killing on exit
    [roslaunch][INFO] 2018-07-05 14:57:11,777: [drive_controller-4] sent SIGINT to pgid [9038]
    [roslaunch.pmon][INFO] 2018-07-05 14:57:11,777: ProcessMonitor exit: killing bridge-2
    [roslaunch][INFO] 2018-07-05 14:57:11,798: [bridge-2] killing on exit
    [roslaunch][INFO] 2018-07-05 14:57:11,799: process[rplidar-3]: killing os process with pid[9034] pgid[9034]
    [roslaunch][INFO] 2018-07-05 14:57:11,799: [rplidar-3] sending SIGINT to pgid [9034]
    [roslaunch][INFO] 2018-07-05 14:57:11,799: [rplidar-3] sent SIGINT to pgid [9034]
    [roslaunch][INFO] 2018-07-05 14:57:11,800: process[bridge-2]: killing os process with pid[9022] pgid[9022]
    [roslaunch][INFO] 2018-07-05 14:57:11,800: [bridge-2] sending SIGINT to pgid [9022]
    [roslaunch][INFO] 2018-07-05 14:57:11,801: [bridge-2] sent SIGINT to pgid [9022]
    [roslaunch][INFO] 2018-07-05 14:57:12,265: process[gmapping-6]: SIGINT killed with return value 0
    [roslaunch][INFO] 2018-07-05 14:57:12,274: process[laser_broadcaster-5]: SIGINT killed with return value 0
    [roslaunch][INFO] 2018-07-05 14:57:12,287: process[drive_controller-4]: SIGINT killed with return value 0
    [roslaunch][INFO] 2018-07-05 14:57:12,702: process[rplidar-3]: SIGINT killed with return value 0
    [roslaunch][INFO] 2018-07-05 14:57:12,703: process[bridge-2]: SIGINT killed with return value 0
    [roslaunch.pmon][INFO] 2018-07-05 14:57:12,703: ProcessMonitor exit: killing rosout-1
    [roslaunch][INFO] 2018-07-05 14:57:12,704: [rosout-1] killing on exit
    [roslaunch][INFO] 2018-07-05 14:57:12,704: process[rosout-1]: killing os process with pid[9018] pgid[9018]
    [roslaunch][INFO] 2018-07-05 14:57:12,705: [rosout-1] sending SIGINT to pgid [9018]
    [roslaunch][INFO] 2018-07-05 14:57:12,705: [rosout-1] sent SIGINT to pgid [9018]
    [roslaunch][INFO] 2018-07-05 14:57:13,106: process[rosout-1]: SIGINT killed with return value 0
    [roslaunch.pmon][INFO] 2018-07-05 14:57:13,107: ProcessMonitor exit: killing master
    [roslaunch][INFO] 2018-07-05 14:57:13,107: [master] killing on exit
    [roslaunch][INFO] 2018-07-05 14:57:13,108: process[master]: killing os process with pid[9005] pgid[9005]
    [roslaunch][INFO] 2018-07-05 14:57:13,108: [master] sending SIGINT to pgid [9005]
    [roslaunch][INFO] 2018-07-05 14:57:13,108: [master] sent SIGINT to pgid [9005]
    [roslaunch][INFO] 2018-07-05 14:57:13,409: process[master]: SIGINT killed with return value 0
    [roslaunch.pmon][INFO] 2018-07-05 14:57:13,410: ProcessMonitor exit: cleaning up data structures and signals
    [roslaunch.pmon][INFO] 2018-07-05 14:57:13,411: ProcessMonitor exit: pmon has shutdown
    [roslaunch][INFO] 2018-07-05 14:57:13,460: process monitor is done spinning, initiating full shutdown
    [roslaunch][INFO] 2018-07-05 14:57:13,461: runner.stop()
    [roslaunch][INFO] 2018-07-05 14:57:13,461: shutting down processing monitor...
    [roslaunch][INFO] 2018-07-05 14:57:13,462: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon -1237646224)>
    [roslaunch.pmon][INFO] 2018-07-05 14:57:13,462: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1237646224)>
    [roslaunch][INFO] 2018-07-05 14:57:13,462: ... shutting down processing monitor complete
    [roslaunch][INFO] 2018-07-05 14:57:13,463: done
    [roslaunch.pmon][INFO] 2018-07-05 14:57:13,463: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1237646224)>
    [rospy.core][INFO] 2018-07-05 14:57:13,464: signal_shutdown [atexit]

Sourcecode:

drive_controller.cpp (948 Bytes)

Launch files:

<launch>

    <arg name="use_rosbot" default="true"/>
    <arg name="use_gazebo" default="false"/>

    <include if="$(arg use_gazebo)" file="$(find rosbot_gazebo)/launch/maze_world.launch"/>

    <node pkg="drive_controller_node" type="serial_bridge.sh" name="bridge" output="screen"/>

    <node if="$(arg use_rosbot)" pkg="rplidar_ros" type="rplidarNode" name="rplidar"/>

    <node if="$(arg use_rosbot)" pkg="drive_controller_node" type="drive_controller_node" name="drive_controller"/>

    <node pkg="tf" type="static_transform_publisher" name="laser_broadcaster" args="0 0 0 3.14 0 0 base_link laser_frame 100" />

    <!-- <node pkg="rviz" type="rviz" name="rviz"/> -->

    <node pkg="gmapping" type="slam_gmapping" name="gmapping">
        <param name="base_frame" value="base_link"/>
        <param name="odom_frame" value="odom" />
        <param name="delta" value="0.1" />
    </node>

</launch>

<launch>
    <node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" name="teleop_twist_keyboard" output="screen"/>
</launch>

I’m working offline using /dev/ttyS1. I have no clue whether working with /dev/ttyCORE2 is having the same issue. But I don’t think it matters.

Any clue?

Thanks in advance

lukasz.mitka · October 30, 2018, 2:28pm

Working with /dev/ttyS1 is not a problem as long as you switched to it correctly, this means you get no errors or warnings from serial bridge.

How did you get line:

<node pkg="drive_controller_node" type="serial_bridge.sh" name="bridge" output="screen"/>

Is it a package that you created for serial port handling?

All log files seems to be correct.

Could you record and share a bag file for this case? Please start roscore, then rosbag record -a, then launch all nodes and drive robot for few meters.

Regards,
Łukasz

sobieski · October 30, 2018, 2:58pm

Well I’ve just included my script to start the bridge over the launch file using following code:

#!/bin/bash

/opt/husarion/tools/rpi-linux/ros-core2-client /dev/ttyS1

Atm I’m having trouble to upload the 8 Mb of the bag file.

lukasz.mitka · October 30, 2018, 3:01pm

You could upload it to external hosting like Google Drive, Dropbox or send it directly to me by email: lukasz.mitka@husarion.com