Hello @JanBrzyk
I have completed lidar sensor testing on all four robots that I currently have.
The results show that two robots are functioning properly, while the other two robots are not working.
The two robots that are not working were the ones that were reassembled due to SBC failure.
The actuators are functioning normally excluding the lidar sensor.
How can I resolve this issue in this case?
Thank you.
Hello @chokings
Can you please send photos of all your robots (those that lidar works with and those that don’t) with the top cover removed? Of course, with a proper description of which are which.
Best regards
Jan Brzyk
Hello @JanBrzyk
Here is the photos.
1. Lidar work
2. Lidar work
3. Lidar dosen’t work
4. Lidar dosen’t work
Thank you.
Hello @chokings
Have you tried swapping lidars between robots to rule out damage to the lidar/cable/controller in the robot?
Best regards
Jan Brzyk
Hello @JanBrzyk
After testing the lidar sensors by swapping them, I observed the following issues:
I have confirmed that when I connect a properly functioning lidar to robots 3 and 4, they work properly. Therefore, it seems that the issue is not related to the cables.
Robot 4’s lidar rotates for a while but then stops, repeating this pattern. When it rotates, the /scan information is published correctly.
Robot 3’s lidar sometimes rotates, but at other times, it produces the following error message. Additionally, when it rotates, the /scan topic is not published.
I would like to know the possible causes of these issues.
Thank you.
In the terminal, the ERROR log file is mentioned in red. Could you post its contents here?
Best regards
Jan Brzyk
Hello @JanBrzyk
I checked the file, but I couldn’t find rplidarNode-1*.log file.
When running the launch file, sometimes there are instances where no error messages occur. However, the lidar does not rotate, and the /scan topic is not being published.
Thank you.
Hello @chokings
To fully specify everything, I need maximum details about the files you run lidars with and again I am asking for detailed logs from which I can deduce what and how.
Specifically, I am interested in either testing one of the devices with all ROSbots, or one ROSbot with all lidars.
Best regards
Jan Brzyk
Hello @JanBrzyk
I executed the following commands in sequence in the terminal to run the lidar:
roscore
roslaunch rosbot_ekf all.launch
roslaunch rplidar_ros rplidar.launch
When running the lidar, there are two types of responses.
The first is when an error message is displayed, as shown in the figure.
The second is when the lidar runs without any errors, but it does not rotate.
These two symptoms occur randomly, with one of them happening each time.
Furthermore, there is no log file named rplidarNode-1*.log, and the log files shown in the picture above are all that exist. Below, I have attached the contents of all the log files.
imu_publisher-5-stdout.log, msgs_conversion-3-stdout.log, and rosbot_ekf-4-stdout.log is empty
master.log
[rosmaster.main][INFO] 2023-07-25 01:22:59,139: initialization complete, waiting for shutdown
[rosmaster.main][INFO] 2023-07-25 01:22:59,139: Starting ROS Master Node
[xmlrpc][INFO] 2023-07-25 01:22:59,141: XML-RPC server binding to :::11311
[xmlrpc][INFO] 2023-07-25 01:22:59,143: binding ipv6 xmlrpc socket to('::', 11311)
[xmlrpc][INFO] 2023-07-25 01:22:59,143: bound to ('::', 11311)
[rosmaster.master][INFO] 2023-07-25 01:22:59,144: Master initialized: port[11311], uri[http://husarion:11311/]
[xmlrpc][INFO] 2023-07-25 01:22:59,144: Started XML-RPC server [http://husarion:11311/]
[xmlrpc][INFO] 2023-07-25 01:22:59,145: xml rpc node: starting XML-RPC server
[rosmaster.master][INFO] 2023-07-25 01:22:59,267: +PARAM [/run_id] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,272: +PARAM [/roslaunch/uris/host_husarion__42721] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,588: +PARAM [/rosbot_ekf/control_timeout] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,589: +SERVICE [/rosout/get_loggers] /rosout http://husarion:39439/
[rosmaster.master][INFO] 2023-07-25 01:22:59,590: +PARAM [/rosbot_ekf/imu0_pose_rejection_threshold] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,591: +PARAM [/rosbot_ekf/imu0_twist_rejection_threshold] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,592: +SERVICE [/rosout/set_logger_level] /rosout http://husarion:39439/
[rosmaster.master][INFO] 2023-07-25 01:22:59,592: +PARAM [/rosbot_ekf/odom0_config] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,594: +PARAM [/rosbot_ekf/odom0_queue_size] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,595: +PUB [/rosout_agg] /rosout http://husarion:39439/
[rosmaster.master][INFO] 2023-07-25 01:22:59,596: +PARAM [/rosbot_ekf/imu0_linear_acceleration_rejection_threshold] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,598: +PARAM [/rosbot_ekf/publish_acceleration] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,600: +PARAM [/rosbot_ekf/debug_out_file] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,601: +PARAM [/rosbot_ekf/process_noise_covariance] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,604: +SUB [/rosout] /rosout http://husarion:39439/
[rosmaster.master][INFO] 2023-07-25 01:22:59,603: +PARAM [/rosbot_ekf/frequency] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,605: +PARAM [/rosbot_ekf/acceleration_limits] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,605: +PARAM [/rosbot_ekf/transform_time_offset] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,606: +PARAM [/rosbot_ekf/publish_tf] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,606: +PARAM [/rosbot_ekf/two_d_mode] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,606: +PARAM [/rosbot_ekf/debug] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,607: +PARAM [/rosbot_ekf/map_frame] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,607: +PARAM [/rosbot_ekf/odom0] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,607: +PARAM [/rosbot_ekf/stamped_control] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,608: +PARAM [/rosbot_ekf/imu0_differential] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,608: +PARAM [/serial_node/port] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,608: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,609: +PARAM [/rosbot_ekf/imu0] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,609: +PARAM [/rosbot_ekf/imu0_remove_gravitational_acceleration] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,609: +PARAM [/rosbot_ekf/use_control] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,610: +PARAM [/rosbot_ekf/odom0_nodelay] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,610: +PARAM [/rosbot_ekf/deceleration_gains] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,611: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,611: +PARAM [/rosbot_ekf/odom0_differential] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,612: +PARAM [/rosbot_ekf/print_diagnostics] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,612: +PARAM [/rosbot_ekf/odom0_relative] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,613: +PARAM [/rosbot_ekf/transform_timeout] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,613: +PARAM [/rosbot_ekf/world_frame] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,613: +PARAM [/rosbot_ekf/base_link_frame] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,614: +PARAM [/rosbot_ekf/imu0_config] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,614: +PARAM [/serial_node/baud] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,614: +PARAM [/rosbot_ekf/deceleration_limits] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,615: +PARAM [/rosbot_ekf/control_config] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,615: +PARAM [/rosbot_ekf/initial_estimate_covariance] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,615: +PARAM [/rosbot_ekf/acceleration_gains] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,616: +PARAM [/rosbot_ekf/imu0_nodelay] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,617: +PARAM [/rosbot_ekf/imu0_queue_size] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,617: +PARAM [/rosbot_ekf/imu0_relative] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,617: +PARAM [/rosbot_ekf/odom_frame] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,618: +PARAM [/rosbot_ekf/sensor_timeout] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:22:59,752: +PUB [/rosout] /msgs_conversion http://husarion:43805/
[rosmaster.master][INFO] 2023-07-25 01:22:59,755: +SERVICE [/msgs_conversion/get_loggers] /msgs_conversion http://husarion:43805/
[rosmaster.master][INFO] 2023-07-25 01:22:59,757: +SERVICE [/msgs_conversion/set_logger_level] /msgs_conversion http://husarion:43805/
[rosmaster.master][INFO] 2023-07-25 01:22:59,766: +PUB [/imu] /msgs_conversion http://husarion:43805/
[rosmaster.master][INFO] 2023-07-25 01:22:59,768: +PUB [/odom/wheel] /msgs_conversion http://husarion:43805/
[rosmaster.master][INFO] 2023-07-25 01:22:59,791: +SUB [/mpu9250] /msgs_conversion http://husarion:43805/
[rosmaster.master][INFO] 2023-07-25 01:22:59,801: +PUB [/rosout] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,806: +SERVICE [/rosbot_ekf/get_loggers] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,811: +SUB [/pose] /msgs_conversion http://husarion:43805/
[rosmaster.master][INFO] 2023-07-25 01:22:59,817: +SERVICE [/rosbot_ekf/set_logger_level] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,821: +PUB [/diagnostics] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,823: +CACHEDPARAM [/rosbot_ekf/diagnostic_period] by /rosbot_ekf
[rosmaster.master][INFO] 2023-07-25 01:22:59,830: +PUB [/rosout] /imu_publisher http://husarion:39127/
[rosmaster.master][INFO] 2023-07-25 01:22:59,833: +SERVICE [/imu_publisher/get_loggers] /imu_publisher http://husarion:39127/
[rosmaster.master][INFO] 2023-07-25 01:22:59,836: +SUB [/tf] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,837: +SERVICE [/imu_publisher/set_logger_level] /imu_publisher http://husarion:39127/
[rosmaster.master][INFO] 2023-07-25 01:22:59,842: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/']
[rosmaster.master][INFO] 2023-07-25 01:22:59,842: +PUB [/tf] /imu_publisher http://husarion:39127/
[rosmaster.master][INFO] 2023-07-25 01:22:59,846: publisherUpdate[/tf] -> http://husarion:40337/ ['http://husarion:39127/']
[rosmaster.master][INFO] 2023-07-25 01:22:59,851: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/']: sec=0.01, result=[1, '', 0]
[rosmaster.master][INFO] 2023-07-25 01:22:59,852: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/']
[rosmaster.master][INFO] 2023-07-25 01:22:59,855: +SUB [/tf_static] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,867: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/']: sec=0.01, result=[1, '', 0]
[rosmaster.master][INFO] 2023-07-25 01:22:59,868: publisherUpdate[/tf] -> http://husarion:40337/ ['http://husarion:39127/']: sec=0.02, result=[1, '', 0]
[rosmaster.master][INFO] 2023-07-25 01:22:59,870: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/', 'http://husarion:39127/']
[rosmaster.master][INFO] 2023-07-25 01:22:59,871: +PUB [/tf] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,872: publisherUpdate[/tf] -> http://husarion:40337/ ['http://husarion:39127/', 'http://husarion:40337/']
[rosmaster.master][INFO] 2023-07-25 01:22:59,875: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/', 'http://husarion:39127/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2023-07-25 01:22:59,879: publisherUpdate[/tf] -> http://husarion:40337/ ['http://husarion:39127/', 'http://husarion:40337/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2023-07-25 01:22:59,963: +SUB [/set_pose] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,967: +SERVICE [/set_pose] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,970: +SERVICE [/rosbot_ekf/enable] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:22:59,972: +SERVICE [/rosbot_ekf/toggle] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:23:00,003: +SUB [/odom/wheel] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:23:00,021: +CACHEDPARAM [/rosout_disable_topics_generation] by /rosbot_ekf
[rosmaster.master][INFO] 2023-07-25 01:23:00,065: +SUB [/imu] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:23:00,087: +CACHEDPARAM [/rosout/omit_topics] by /rosout
[rosmaster.master][INFO] 2023-07-25 01:23:00,090: +SUB [/cmd_vel] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:23:00,103: +PUB [/odom] /rosbot_ekf http://husarion:40337/
[rosmaster.master][INFO] 2023-07-25 01:23:00,654: +PUB [/rosout] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:00,667: +SERVICE [/serial_node/get_loggers] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:00,672: +SERVICE [/serial_node/set_logger_level] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:00,677: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:00,682: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/', 'http://husarion:39127/', 'http://husarion:35405/']
[rosmaster.master][INFO] 2023-07-25 01:23:00,692: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/', 'http://husarion:39127/', 'http://husarion:35405/']: sec=0.01, result=[1, '', 0]
[rosmaster.master][INFO] 2023-07-25 01:23:00,708: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:00,716: +PUB [/diagnostics] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:02,827: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:02,848: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:02,856: +SERVICE [/config] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:02,863: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,116: +PUB [/battery] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,120: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,126: +PUB [/pose] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,129: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,136: +PUB [/velocity] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,139: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,148: +PUB [/range/fr] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,153: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,153: publisherUpdate[/pose] -> http://husarion:43805/ ['http://husarion:35405/']
[rosmaster.master][INFO] 2023-07-25 01:23:03,159: publisherUpdate[/pose] -> http://husarion:43805/ ['http://husarion:35405/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2023-07-25 01:23:03,162: +PUB [/range/fl] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,166: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,174: +PUB [/range/rr] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,184: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,194: +PUB [/range/rl] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,198: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,207: +PUB [/joint_states] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,214: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,225: +PUB [/mpu9250] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,231: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,241: +PUB [/buttons] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,247: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,256: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,260: publisherUpdate[/mpu9250] -> http://husarion:43805/ ['http://husarion:35405/']
[rosmaster.master][INFO] 2023-07-25 01:23:03,263: publisherUpdate[/mpu9250] -> http://husarion:43805/ ['http://husarion:35405/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2023-07-25 01:23:03,266: +SUB [/cmd_vel] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,277: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,288: +SUB [/cmd_ser] /serial_node http://husarion:35405/
[rosmaster.master][INFO] 2023-07-25 01:23:03,293: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,315: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:03,322: +CACHEDPARAM [/rosout_disable_topics_generation] by /serial_node
[rosmaster.master][INFO] 2023-07-25 01:23:11,143: +PARAM [/roslaunch/uris/host_husarion__41575] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:23:11,164: +PARAM [/rplidarNode/angle_compensate] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:23:11,165: +PARAM [/rosdistro] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:23:11,165: +PARAM [/rplidarNode/frame_id] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:23:11,166: +PARAM [/rplidarNode/serial_port] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:23:11,167: +PARAM [/rplidarNode/serial_baudrate] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:23:11,168: +PARAM [/rosversion] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:23:11,169: +PARAM [/rplidarNode/inverted] by /roslaunch
[rosmaster.master][INFO] 2023-07-25 01:23:11,474: +PUB [/rosout] /rplidarNode http://husarion:42897/
[rosmaster.master][INFO] 2023-07-25 01:23:11,477: +SERVICE [/rplidarNode/get_loggers] /rplidarNode http://husarion:42897/
[rosmaster.master][INFO] 2023-07-25 01:23:11,480: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/', 'http://husarion:39127/', 'http://husarion:35405/', 'http://husarion:42897/']
[rosmaster.master][INFO] 2023-07-25 01:23:11,480: +SERVICE [/rplidarNode/set_logger_level] /rplidarNode http://husarion:42897/
[rosmaster.master][INFO] 2023-07-25 01:23:11,486: +PUB [/scan] /rplidarNode http://husarion:42897/
[rosmaster.master][INFO] 2023-07-25 01:23:11,490: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/', 'http://husarion:39127/', 'http://husarion:35405/', 'http://husarion:42897/']: sec=0.01, result=[1, '', 0]
[rosmaster.master][INFO] 2023-07-25 01:23:11,507: +CACHEDPARAM [/rosout_disable_topics_generation] by /rplidarNode
[rosmaster.master][INFO] 2023-07-25 01:23:11,510: -PUB [/scan] /rplidarNode http://husarion:42897/
[rosmaster.master][INFO] 2023-07-25 01:23:11,687: -PUB [/rosout] /rplidarNode http://husarion:42897/
[rosmaster.master][INFO] 2023-07-25 01:23:11,689: -SERVICE [/rplidarNode/get_loggers] /rplidarNode rosrpc://husarion:56361
[rosmaster.master][INFO] 2023-07-25 01:23:11,690: -SERVICE [/rplidarNode/set_logger_level] /rplidarNode rosrpc://husarion:56361
[rosmaster.master][INFO] 2023-07-25 01:23:11,692: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/', 'http://husarion:39127/', 'http://husarion:35405/']
[rosmaster.master][INFO] 2023-07-25 01:23:11,693: -CACHEDPARAM [/rosout_disable_topics_generation] by /rplidarNode
[rosmaster.master][INFO] 2023-07-25 01:23:11,695: publisherUpdate[/rosout] -> http://husarion:39439/ ['http://husarion:43805/', 'http://husarion:40337/', 'http://husarion:39127/', 'http://husarion:35405/']: sec=0.00, result=[1, '', 0]
roslaunch-husarion-2506.log
[roslaunch][INFO] 2023-07-25 01:22:56,500: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2023-07-25 01:22:56,509: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2023-07-25 01:22:56,510: roslaunch starting with args ['/opt/ros/melodic/bin/roslaunch', 'rosbot_ekf', 'all.launch']
[roslaunch][INFO] 2023-07-25 01:22:56,511: roslaunch env is {'ROS_IPV6': 'on', 'GLADE_PIXMAP_PATH': ':', 'ROS_VERSION': '1', 'LESSOPEN': '| /bin/lesspipe %s', 'ROSBOT_VER': 'ROSBOT_2.0', 'LOGNAME': 'husarion', 'USER': 'husarion', 'PATH': '/opt/ros/melodic/bin:/sbin:/bin:/usr/bin:/usr/local/bin', 'HOME': '/home/husarion', 'CMAKE_PREFIX_PATH': '/home/husarion/husarion_ws/devel:/opt/ros/melodic', 'DISPLAY': ':10.0', 'SSH_AGENT_PID': '1023', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/roslaunch-husarion-2506.log', 'UID': '1000', 'SESSION_MANAGER': 'local/husarion:@/tmp/.ICE-unix/1032,unix/husarion:/tmp/.ICE-unix/1032', 'XDG_DATA_DIRS': '/usr/share/xfce4:/usr/local/share/:/usr/share/:/usr/share', 'ROS_DISTRO': 'melodic', 'LD_LIBRARY_PATH': '/home/husarion/husarion_ws/devel/lib:/opt/ros/melodic/lib', 'QT_ACCESSIBILITY': '1', 'GLADE_CATALOG_PATH': ':', 'ROS_PYTHON_VERSION': '2', 'XRDP_SOCKET_PATH': '/var/run/xrdp/sockdir', 'GLADE_MODULE_PATH': ':', 'PYTHONPATH': '/home/husarion/husarion_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/tmp/ssh-iHGngljoP5QA/agent.960', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'PULSE_SCRIPT': '/etc/xrdp/pulse/default.pa', 'PKG_CONFIG_PATH': '/home/husarion/husarion_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/husarion_ws/src:/opt/ros/melodic/share', 'XDG_CURRENT_DESKTOP': 'XFCE', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-uDqVD1pqNp,guid=035f6ee10a4b81d11324a7c064bf2065', '_': '/opt/ros/melodic/bin/roslaunch', 'DESKTOP_SESSION': 'xfce', 'LESSCLOSE': '/bin/lesspipe %s %s', 'XDG_CONFIG_DIRS': '/etc/xdg', 'XRDP_SESSION': '1', 'SHLVL': '1', 'PWD': '/home/husarion', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_MASTER_URI': 'http://master:11311', 'COLORTERM': 'truecolor', 'XDG_MENU_PREFIX': 'xfce-', '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:*.zst=01;31:*.tzst=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:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=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] 2023-07-25 01:22:56,511: starting in server mode
[roslaunch.parent][INFO] 2023-07-25 01:22:56,512: starting roslaunch parent run
[roslaunch][INFO] 2023-07-25 01:22:56,513: loading roscore config file /opt/ros/melodic/etc/ros/roscore.xml
[roslaunch][INFO] 2023-07-25 01:22:57,866: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2023-07-25 01:22:57,867: loading config file /home/husarion/husarion_ws/src/rosbot_ekf/launch/all.launch
[roslaunch][INFO] 2023-07-25 01:22:58,036: Added node of type [rosserial_python/serial_node.py] in namespace [/]
[roslaunch][INFO] 2023-07-25 01:22:58,038: Added node of type [rosbot_ekf/msgs_conversion] in namespace [/]
[roslaunch][INFO] 2023-07-25 01:22:58,259: Added node of type [robot_localization/ekf_localization_node] in namespace [/]
[roslaunch][INFO] 2023-07-25 01:22:58,260: Added node of type [tf/static_transform_publisher] in namespace [/]
[roslaunch][INFO] 2023-07-25 01:22:58,261: ... selected machine [] for node of type [rosserial_python/serial_node.py]
[roslaunch][INFO] 2023-07-25 01:22:58,261: ... selected machine [] for node of type [rosbot_ekf/msgs_conversion]
[roslaunch][INFO] 2023-07-25 01:22:58,261: ... selected machine [] for node of type [robot_localization/ekf_localization_node]
[roslaunch][INFO] 2023-07-25 01:22:58,262: ... selected machine [] for node of type [tf/static_transform_publisher]
[roslaunch.pmon][INFO] 2023-07-25 01:22:58,264: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2023-07-25 01:22:58,265: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2023-07-25 01:22:58,265: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2023-07-25 01:22:58,266: starting parent XML-RPC server
[roslaunch.server][INFO] 2023-07-25 01:22:58,266: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2023-07-25 01:22:58,266: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2023-07-25 01:22:58,267: XML-RPC server binding to :::0
[xmlrpc][INFO] 2023-07-25 01:22:58,268: binding ipv6 xmlrpc socket to('::', 0)
[xmlrpc][INFO] 2023-07-25 01:22:58,268: bound to ('::', 42721)
[xmlrpc][INFO] 2023-07-25 01:22:58,268: Started XML-RPC server [http://husarion:42721/]
[xmlrpc][INFO] 2023-07-25 01:22:58,269: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2023-07-25 01:22:58,280: started roslaunch server http://husarion:42721/
[roslaunch.parent][INFO] 2023-07-25 01:22:58,281: ... parent XML-RPC server started
[roslaunch][INFO] 2023-07-25 01:22:58,283: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:58,284: auto-starting new master
[roslaunch][INFO] 2023-07-25 01:22:58,285: create_master_process: rosmaster, /opt/ros/melodic/share/ros, 11311, 3, None, False
[roslaunch][INFO] 2023-07-25 01:22:58,286: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']]
[roslaunch.pmon][INFO] 2023-07-25 01:22:58,286: ProcessMonitor.register[master]
[roslaunch.pmon][INFO] 2023-07-25 01:22:58,287: ProcessMonitor.register[master] complete
[roslaunch][INFO] 2023-07-25 01:22:58,287: process[master]: starting os process
[roslaunch][INFO] 2023-07-25 01:22:58,288: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', '__log:=/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/master.log']]
[roslaunch][INFO] 2023-07-25 01:22:58,288: process[master]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2023-07-25 01:22:58,321: process[master]: started with pid [2516]
[roslaunch][INFO] 2023-07-25 01:22:58,322: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:58,425: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:58,527: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:58,629: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:58,732: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:58,834: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:58,937: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:59,039: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:59,141: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:59,243: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:59,253: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:22:59,260: ROS_MASTER_URI=http://master:11311
[roslaunch][INFO] 2023-07-25 01:22:59,266: setting /run_id to c8d84dea-2a89-11ee-b1b8-706655764da3
[roslaunch][INFO] 2023-07-25 01:22:59,269: setting /roslaunch/uris/host_husarion__42721' to http://husarion:42721/
[roslaunch][INFO] 2023-07-25 01:22:59,289: ... preparing to launch node of type [rosout/rosout]
[roslaunch][INFO] 2023-07-25 01:22:59,290: 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] 2023-07-25 01:22:59,290: process[rosout-1]: env[{'ROS_IPV6': 'on', 'GLADE_PIXMAP_PATH': ':', 'XDG_CURRENT_DESKTOP': 'XFCE', 'ROSBOT_VER': 'ROSBOT_2.0', 'COLORTERM': 'truecolor', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'ROS_DISTRO': 'melodic', 'CMAKE_PREFIX_PATH': '/home/husarion/husarion_ws/devel:/opt/ros/melodic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/roslaunch-husarion-2506.log', 'SSH_AGENT_PID': '1023', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'UID': '1000', 'SESSION_MANAGER': 'local/husarion:@/tmp/.ICE-unix/1032,unix/husarion:/tmp/.ICE-unix/1032', 'XDG_DATA_DIRS': '/usr/share/xfce4:/usr/local/share/:/usr/share/:/usr/share', 'LESSCLOSE': '/bin/lesspipe %s %s', 'LD_LIBRARY_PATH': '/home/husarion/husarion_ws/devel/lib:/opt/ros/melodic/lib', 'QT_ACCESSIBILITY': '1', 'GLADE_CATALOG_PATH': ':', 'ROS_PYTHON_VERSION': '2', 'XRDP_SOCKET_PATH': '/var/run/xrdp/sockdir', 'GLADE_MODULE_PATH': ':', 'PYTHONPATH': '/home/husarion/husarion_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/tmp/ssh-iHGngljoP5QA/agent.960', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'PATH': '/opt/ros/melodic/bin:/sbin:/bin:/usr/bin:/usr/local/bin', 'PULSE_SCRIPT': '/etc/xrdp/pulse/default.pa', 'PKG_CONFIG_PATH': '/home/husarion/husarion_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/husarion_ws/src:/opt/ros/melodic/share', 'LESSOPEN': '| /bin/lesspipe %s', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-uDqVD1pqNp,guid=035f6ee10a4b81d11324a7c064bf2065', '_': '/opt/ros/melodic/bin/roslaunch', 'DESKTOP_SESSION': 'xfce', 'DISPLAY': ':10.0', 'XDG_CONFIG_DIRS': '/etc/xdg', 'XRDP_SESSION': '1', 'SHLVL': '1', 'PWD': '/home/husarion', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_MASTER_URI': 'http://master:11311', 'ROS_VERSION': '1', 'XDG_MENU_PREFIX': 'xfce-', '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:*.zst=01;31:*.tzst=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:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=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] 2023-07-25 01:22:59,505: process[rosout-1]: args[[u'/opt/ros/melodic/lib/rosout/rosout', u'__name:=rosout']]
[roslaunch][INFO] 2023-07-25 01:22:59,506: ... created process [rosout-1]
continued
roslaunch-husarion-2506.log continued.
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,506: ProcessMonitor.register[rosout-1]
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,506: ProcessMonitor.register[rosout-1] complete
[roslaunch][INFO] 2023-07-25 01:22:59,507: ... registered process [rosout-1]
[roslaunch][INFO] 2023-07-25 01:22:59,507: process[rosout-1]: starting os process
[roslaunch][INFO] 2023-07-25 01:22:59,508: process[rosout-1]: start w/ args [[u'/opt/ros/melodic/lib/rosout/rosout', u'__name:=rosout', u'__log:=/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/rosout-1.log']]
[roslaunch][INFO] 2023-07-25 01:22:59,508: process[rosout-1]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2023-07-25 01:22:59,518: process[rosout-1]: started with pid [2527]
[roslaunch][INFO] 2023-07-25 01:22:59,519: ... successfully launched [rosout-1]
[roslaunch][INFO] 2023-07-25 01:22:59,520: load_parameters starting ...
[roslaunch][INFO] 2023-07-25 01:22:59,631: ... load_parameters complete
[roslaunch][INFO] 2023-07-25 01:22:59,632: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2023-07-25 01:22:59,633: ... preparing to launch node of type [rosserial_python/serial_node.py]
[roslaunch][INFO] 2023-07-25 01:22:59,633: create_node_process: package[rosserial_python] type[serial_node.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] 2023-07-25 01:22:59,633: process[serial_node-2]: env[{'ROS_IPV6': 'on', 'GLADE_PIXMAP_PATH': ':', 'XDG_CURRENT_DESKTOP': 'XFCE', 'ROSBOT_VER': 'ROSBOT_2.0', 'COLORTERM': 'truecolor', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'ROS_DISTRO': 'melodic', 'CMAKE_PREFIX_PATH': '/home/husarion/husarion_ws/devel:/opt/ros/melodic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/roslaunch-husarion-2506.log', 'SSH_AGENT_PID': '1023', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'UID': '1000', 'SESSION_MANAGER': 'local/husarion:@/tmp/.ICE-unix/1032,unix/husarion:/tmp/.ICE-unix/1032', 'XDG_DATA_DIRS': '/usr/share/xfce4:/usr/local/share/:/usr/share/:/usr/share', 'LESSCLOSE': '/bin/lesspipe %s %s', 'LD_LIBRARY_PATH': '/home/husarion/husarion_ws/devel/lib:/opt/ros/melodic/lib', 'QT_ACCESSIBILITY': '1', 'GLADE_CATALOG_PATH': ':', 'ROS_PYTHON_VERSION': '2', 'XRDP_SOCKET_PATH': '/var/run/xrdp/sockdir', 'GLADE_MODULE_PATH': ':', 'PYTHONPATH': '/home/husarion/husarion_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/tmp/ssh-iHGngljoP5QA/agent.960', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'PATH': '/opt/ros/melodic/bin:/sbin:/bin:/usr/bin:/usr/local/bin', 'PULSE_SCRIPT': '/etc/xrdp/pulse/default.pa', 'PKG_CONFIG_PATH': '/home/husarion/husarion_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/husarion_ws/src:/opt/ros/melodic/share', 'LESSOPEN': '| /bin/lesspipe %s', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-uDqVD1pqNp,guid=035f6ee10a4b81d11324a7c064bf2065', '_': '/opt/ros/melodic/bin/roslaunch', 'DESKTOP_SESSION': 'xfce', 'DISPLAY': ':10.0', 'XDG_CONFIG_DIRS': '/etc/xdg', 'XRDP_SESSION': '1', 'SHLVL': '1', 'PWD': '/home/husarion', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_MASTER_URI': 'http://master:11311', 'ROS_VERSION': '1', 'XDG_MENU_PREFIX': 'xfce-', '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:*.zst=01;31:*.tzst=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:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=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] 2023-07-25 01:22:59,636: process[serial_node-2]: args[[u'/home/husarion/husarion_ws/src/rosserial/rosserial_python/nodes/serial_node.py', u'__name:=serial_node']]
[roslaunch][INFO] 2023-07-25 01:22:59,637: ... created process [serial_node-2]
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,638: ProcessMonitor.register[serial_node-2]
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,638: ProcessMonitor.register[serial_node-2] complete
[roslaunch][INFO] 2023-07-25 01:22:59,638: ... registered process [serial_node-2]
[roslaunch][INFO] 2023-07-25 01:22:59,639: process[serial_node-2]: starting os process
[roslaunch][INFO] 2023-07-25 01:22:59,640: process[serial_node-2]: start w/ args [[u'/home/husarion/husarion_ws/src/rosserial/rosserial_python/nodes/serial_node.py', u'__name:=serial_node', u'__log:=/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/serial_node-2.log']]
[roslaunch][INFO] 2023-07-25 01:22:59,640: process[serial_node-2]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2023-07-25 01:22:59,652: process[serial_node-2]: started with pid [2535]
[roslaunch][INFO] 2023-07-25 01:22:59,653: ... successfully launched [serial_node-2]
[roslaunch][INFO] 2023-07-25 01:22:59,654: ... preparing to launch node of type [rosbot_ekf/msgs_conversion]
[roslaunch][INFO] 2023-07-25 01:22:59,654: create_node_process: package[rosbot_ekf] type[msgs_conversion] 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] 2023-07-25 01:22:59,655: process[msgs_conversion-3]: env[{'ROS_IPV6': 'on', 'GLADE_PIXMAP_PATH': ':', 'XDG_CURRENT_DESKTOP': 'XFCE', 'ROSBOT_VER': 'ROSBOT_2.0', 'COLORTERM': 'truecolor', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'ROS_DISTRO': 'melodic', 'CMAKE_PREFIX_PATH': '/home/husarion/husarion_ws/devel:/opt/ros/melodic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/roslaunch-husarion-2506.log', 'SSH_AGENT_PID': '1023', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'UID': '1000', 'SESSION_MANAGER': 'local/husarion:@/tmp/.ICE-unix/1032,unix/husarion:/tmp/.ICE-unix/1032', 'XDG_DATA_DIRS': '/usr/share/xfce4:/usr/local/share/:/usr/share/:/usr/share', 'LESSCLOSE': '/bin/lesspipe %s %s', 'LD_LIBRARY_PATH': '/home/husarion/husarion_ws/devel/lib:/opt/ros/melodic/lib', 'QT_ACCESSIBILITY': '1', 'GLADE_CATALOG_PATH': ':', 'ROS_PYTHON_VERSION': '2', 'XRDP_SOCKET_PATH': '/var/run/xrdp/sockdir', 'GLADE_MODULE_PATH': ':', 'PYTHONPATH': '/home/husarion/husarion_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/tmp/ssh-iHGngljoP5QA/agent.960', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'PATH': '/opt/ros/melodic/bin:/sbin:/bin:/usr/bin:/usr/local/bin', 'PULSE_SCRIPT': '/etc/xrdp/pulse/default.pa', 'PKG_CONFIG_PATH': '/home/husarion/husarion_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/husarion_ws/src:/opt/ros/melodic/share', 'LESSOPEN': '| /bin/lesspipe %s', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-uDqVD1pqNp,guid=035f6ee10a4b81d11324a7c064bf2065', '_': '/opt/ros/melodic/bin/roslaunch', 'DESKTOP_SESSION': 'xfce', 'DISPLAY': ':10.0', 'XDG_CONFIG_DIRS': '/etc/xdg', 'XRDP_SESSION': '1', 'SHLVL': '1', 'PWD': '/home/husarion', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_MASTER_URI': 'http://master:11311', 'ROS_VERSION': '1', 'XDG_MENU_PREFIX': 'xfce-', '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:*.zst=01;31:*.tzst=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:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=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] 2023-07-25 01:22:59,660: process[msgs_conversion-3]: args[[u'/home/husarion/husarion_ws/devel/lib/rosbot_ekf/msgs_conversion', u'__name:=msgs_conversion']]
[roslaunch][INFO] 2023-07-25 01:22:59,661: ... created process [msgs_conversion-3]
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,662: ProcessMonitor.register[msgs_conversion-3]
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,662: ProcessMonitor.register[msgs_conversion-3] complete
[roslaunch][INFO] 2023-07-25 01:22:59,663: ... registered process [msgs_conversion-3]
[roslaunch][INFO] 2023-07-25 01:22:59,663: process[msgs_conversion-3]: starting os process
[roslaunch][INFO] 2023-07-25 01:22:59,664: process[msgs_conversion-3]: start w/ args [[u'/home/husarion/husarion_ws/devel/lib/rosbot_ekf/msgs_conversion', u'__name:=msgs_conversion', u'__log:=/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/msgs_conversion-3.log']]
[roslaunch][INFO] 2023-07-25 01:22:59,664: process[msgs_conversion-3]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2023-07-25 01:22:59,687: process[msgs_conversion-3]: started with pid [2536]
[roslaunch][INFO] 2023-07-25 01:22:59,688: ... successfully launched [msgs_conversion-3]
[roslaunch][INFO] 2023-07-25 01:22:59,689: ... preparing to launch node of type [robot_localization/ekf_localization_node]
[roslaunch][INFO] 2023-07-25 01:22:59,689: create_node_process: package[robot_localization] type[ekf_localization_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] 2023-07-25 01:22:59,690: process[rosbot_ekf-4]: env[{'ROS_IPV6': 'on', 'GLADE_PIXMAP_PATH': ':', 'XDG_CURRENT_DESKTOP': 'XFCE', 'ROSBOT_VER': 'ROSBOT_2.0', 'COLORTERM': 'truecolor', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'ROS_DISTRO': 'melodic', 'CMAKE_PREFIX_PATH': '/home/husarion/husarion_ws/devel:/opt/ros/melodic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/roslaunch-husarion-2506.log', 'SSH_AGENT_PID': '1023', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'UID': '1000', 'SESSION_MANAGER': 'local/husarion:@/tmp/.ICE-unix/1032,unix/husarion:/tmp/.ICE-unix/1032', 'XDG_DATA_DIRS': '/usr/share/xfce4:/usr/local/share/:/usr/share/:/usr/share', 'LESSCLOSE': '/bin/lesspipe %s %s', 'LD_LIBRARY_PATH': '/home/husarion/husarion_ws/devel/lib:/opt/ros/melodic/lib', 'QT_ACCESSIBILITY': '1', 'GLADE_CATALOG_PATH': ':', 'ROS_PYTHON_VERSION': '2', 'XRDP_SOCKET_PATH': '/var/run/xrdp/sockdir', 'GLADE_MODULE_PATH': ':', 'PYTHONPATH': '/home/husarion/husarion_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/tmp/ssh-iHGngljoP5QA/agent.960', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'PATH': '/opt/ros/melodic/bin:/sbin:/bin:/usr/bin:/usr/local/bin', 'PULSE_SCRIPT': '/etc/xrdp/pulse/default.pa', 'PKG_CONFIG_PATH': '/home/husarion/husarion_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/husarion_ws/src:/opt/ros/melodic/share', 'LESSOPEN': '| /bin/lesspipe %s', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-uDqVD1pqNp,guid=035f6ee10a4b81d11324a7c064bf2065', '_': '/opt/ros/melodic/bin/roslaunch', 'DESKTOP_SESSION': 'xfce', 'DISPLAY': ':10.0', 'XDG_CONFIG_DIRS': '/etc/xdg', 'XRDP_SESSION': '1', 'SHLVL': '1', 'PWD': '/home/husarion', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_MASTER_URI': 'http://master:11311', 'ROS_VERSION': '1', 'XDG_MENU_PREFIX': 'xfce-', '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:*.zst=01;31:*.tzst=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:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=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] 2023-07-25 01:22:59,695: process[rosbot_ekf-4]: args[[u'/opt/ros/melodic/lib/robot_localization/ekf_localization_node', u'odometry/filtered:=odom', u'__name:=rosbot_ekf']]
[roslaunch][INFO] 2023-07-25 01:22:59,695: ... created process [rosbot_ekf-4]
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,696: ProcessMonitor.register[rosbot_ekf-4]
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,696: ProcessMonitor.register[rosbot_ekf-4] complete
[roslaunch][INFO] 2023-07-25 01:22:59,697: ... registered process [rosbot_ekf-4]
[roslaunch][INFO] 2023-07-25 01:22:59,697: process[rosbot_ekf-4]: starting os process
[roslaunch][INFO] 2023-07-25 01:22:59,698: process[rosbot_ekf-4]: start w/ args [[u'/opt/ros/melodic/lib/robot_localization/ekf_localization_node', u'odometry/filtered:=odom', u'__name:=rosbot_ekf', u'__log:=/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/rosbot_ekf-4.log']]
[roslaunch][INFO] 2023-07-25 01:22:59,698: process[rosbot_ekf-4]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2023-07-25 01:22:59,719: process[rosbot_ekf-4]: started with pid [2537]
[roslaunch][INFO] 2023-07-25 01:22:59,720: ... successfully launched [rosbot_ekf-4]
[roslaunch][INFO] 2023-07-25 01:22:59,721: ... preparing to launch node of type [tf/static_transform_publisher]
[roslaunch][INFO] 2023-07-25 01:22:59,721: 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] 2023-07-25 01:22:59,722: process[imu_publisher-5]: env[{'ROS_IPV6': 'on', 'GLADE_PIXMAP_PATH': ':', 'XDG_CURRENT_DESKTOP': 'XFCE', 'ROSBOT_VER': 'ROSBOT_2.0', 'COLORTERM': 'truecolor', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'ROS_DISTRO': 'melodic', 'CMAKE_PREFIX_PATH': '/home/husarion/husarion_ws/devel:/opt/ros/melodic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/roslaunch-husarion-2506.log', 'SSH_AGENT_PID': '1023', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'UID': '1000', 'SESSION_MANAGER': 'local/husarion:@/tmp/.ICE-unix/1032,unix/husarion:/tmp/.ICE-unix/1032', 'XDG_DATA_DIRS': '/usr/share/xfce4:/usr/local/share/:/usr/share/:/usr/share', 'LESSCLOSE': '/bin/lesspipe %s %s', 'LD_LIBRARY_PATH': '/home/husarion/husarion_ws/devel/lib:/opt/ros/melodic/lib', 'QT_ACCESSIBILITY': '1', 'GLADE_CATALOG_PATH': ':', 'ROS_PYTHON_VERSION': '2', 'XRDP_SOCKET_PATH': '/var/run/xrdp/sockdir', 'GLADE_MODULE_PATH': ':', 'PYTHONPATH': '/home/husarion/husarion_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/tmp/ssh-iHGngljoP5QA/agent.960', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'PATH': '/opt/ros/melodic/bin:/sbin:/bin:/usr/bin:/usr/local/bin', 'PULSE_SCRIPT': '/etc/xrdp/pulse/default.pa', 'PKG_CONFIG_PATH': '/home/husarion/husarion_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/husarion_ws/src:/opt/ros/melodic/share', 'LESSOPEN': '| /bin/lesspipe %s', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-uDqVD1pqNp,guid=035f6ee10a4b81d11324a7c064bf2065', '_': '/opt/ros/melodic/bin/roslaunch', 'DESKTOP_SESSION': 'xfce', 'DISPLAY': ':10.0', 'XDG_CONFIG_DIRS': '/etc/xdg', 'XRDP_SESSION': '1', 'SHLVL': '1', 'PWD': '/home/husarion', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_MASTER_URI': 'http://master:11311', 'ROS_VERSION': '1', 'XDG_MENU_PREFIX': 'xfce-', '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:*.zst=01;31:*.tzst=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:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=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] 2023-07-25 01:22:59,736: process[imu_publisher-5]: args[[u'/opt/ros/melodic/lib/tf/static_transform_publisher', '0', '0', '0.02', '0', '0', '0', 'base_link', 'imu_link', '100', u'__name:=imu_publisher']]
[roslaunch][INFO] 2023-07-25 01:22:59,736: ... created process [imu_publisher-5]
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,737: ProcessMonitor.register[imu_publisher-5]
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,737: ProcessMonitor.register[imu_publisher-5] complete
[roslaunch][INFO] 2023-07-25 01:22:59,737: ... registered process [imu_publisher-5]
[roslaunch][INFO] 2023-07-25 01:22:59,738: process[imu_publisher-5]: starting os process
[roslaunch][INFO] 2023-07-25 01:22:59,739: process[imu_publisher-5]: start w/ args [[u'/opt/ros/melodic/lib/tf/static_transform_publisher', '0', '0', '0.02', '0', '0', '0', 'base_link', 'imu_link', '100', u'__name:=imu_publisher', u'__log:=/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/imu_publisher-5.log']]
[roslaunch][INFO] 2023-07-25 01:22:59,739: process[imu_publisher-5]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2023-07-25 01:22:59,769: process[imu_publisher-5]: started with pid [2539]
[roslaunch][INFO] 2023-07-25 01:22:59,770: ... successfully launched [imu_publisher-5]
[roslaunch][INFO] 2023-07-25 01:22:59,771: ... launch_nodes complete
[roslaunch.pmon][INFO] 2023-07-25 01:22:59,771: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon -1239935904)>
[roslaunch.parent][INFO] 2023-07-25 01:22:59,771: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2023-07-25 01:22:59,772: spin
roslaunch-husarion-2618.log
[roslaunch][INFO] 2023-07-25 01:23:09,622: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2023-07-25 01:23:09,630: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2023-07-25 01:23:09,631: roslaunch starting with args ['/opt/ros/melodic/bin/roslaunch', 'rplidar_ros', 'rplidar.launch']
[roslaunch][INFO] 2023-07-25 01:23:09,631: roslaunch env is {'ROS_IPV6': 'on', 'GLADE_PIXMAP_PATH': ':', 'ROS_VERSION': '1', 'LESSOPEN': '| /bin/lesspipe %s', 'ROSBOT_VER': 'ROSBOT_2.0', 'LOGNAME': 'husarion', 'USER': 'husarion', 'PATH': '/opt/ros/melodic/bin:/sbin:/bin:/usr/bin:/usr/local/bin', 'HOME': '/home/husarion', 'CMAKE_PREFIX_PATH': '/home/husarion/husarion_ws/devel:/opt/ros/melodic', 'DISPLAY': ':10.0', 'SSH_AGENT_PID': '1023', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/roslaunch-husarion-2618.log', 'UID': '1000', 'SESSION_MANAGER': 'local/husarion:@/tmp/.ICE-unix/1032,unix/husarion:/tmp/.ICE-unix/1032', 'XDG_DATA_DIRS': '/usr/share/xfce4:/usr/local/share/:/usr/share/:/usr/share', 'ROS_DISTRO': 'melodic', 'LD_LIBRARY_PATH': '/home/husarion/husarion_ws/devel/lib:/opt/ros/melodic/lib', 'QT_ACCESSIBILITY': '1', 'GLADE_CATALOG_PATH': ':', 'ROS_PYTHON_VERSION': '2', 'XRDP_SOCKET_PATH': '/var/run/xrdp/sockdir', 'GLADE_MODULE_PATH': ':', 'PYTHONPATH': '/home/husarion/husarion_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/tmp/ssh-iHGngljoP5QA/agent.960', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'PULSE_SCRIPT': '/etc/xrdp/pulse/default.pa', 'PKG_CONFIG_PATH': '/home/husarion/husarion_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/husarion_ws/src:/opt/ros/melodic/share', 'XDG_CURRENT_DESKTOP': 'XFCE', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-uDqVD1pqNp,guid=035f6ee10a4b81d11324a7c064bf2065', '_': '/opt/ros/melodic/bin/roslaunch', 'DESKTOP_SESSION': 'xfce', 'LESSCLOSE': '/bin/lesspipe %s %s', 'XDG_CONFIG_DIRS': '/etc/xdg', 'XRDP_SESSION': '1', 'SHLVL': '1', 'PWD': '/home/husarion', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_MASTER_URI': 'http://master:11311', 'COLORTERM': 'truecolor', 'XDG_MENU_PREFIX': 'xfce-', '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:*.zst=01;31:*.tzst=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:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=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] 2023-07-25 01:23:09,631: starting in server mode
[roslaunch.parent][INFO] 2023-07-25 01:23:09,632: starting roslaunch parent run
[roslaunch][INFO] 2023-07-25 01:23:09,633: loading roscore config file /opt/ros/melodic/etc/ros/roscore.xml
[roslaunch][INFO] 2023-07-25 01:23:11,088: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2023-07-25 01:23:11,089: loading config file /home/husarion/husarion_ws/src/rplidar_ros/launch/rplidar.launch
[roslaunch][INFO] 2023-07-25 01:23:11,093: Added node of type [rplidar_ros/rplidarNode] in namespace [/]
[roslaunch][INFO] 2023-07-25 01:23:11,093: ... selected machine [] for node of type [rplidar_ros/rplidarNode]
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,096: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,097: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,097: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2023-07-25 01:23:11,098: starting parent XML-RPC server
[roslaunch.server][INFO] 2023-07-25 01:23:11,098: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2023-07-25 01:23:11,099: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2023-07-25 01:23:11,099: XML-RPC server binding to :::0
[xmlrpc][INFO] 2023-07-25 01:23:11,100: binding ipv6 xmlrpc socket to('::', 0)
[xmlrpc][INFO] 2023-07-25 01:23:11,100: bound to ('::', 41575)
[xmlrpc][INFO] 2023-07-25 01:23:11,101: Started XML-RPC server [http://husarion:41575/]
[xmlrpc][INFO] 2023-07-25 01:23:11,101: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2023-07-25 01:23:11,114: started roslaunch server http://husarion:41575/
[roslaunch.parent][INFO] 2023-07-25 01:23:11,115: ... parent XML-RPC server started
[roslaunch][INFO] 2023-07-25 01:23:11,117: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:23:11,123: master.is_running[http://master:11311]
[roslaunch][INFO] 2023-07-25 01:23:11,129: ROS_MASTER_URI=http://master:11311
[roslaunch][INFO] 2023-07-25 01:23:11,141: setting /roslaunch/uris/host_husarion__41575' to http://husarion:41575/
[roslaunch][INFO] 2023-07-25 01:23:11,145: load_parameters starting ...
[roslaunch][INFO] 2023-07-25 01:23:11,174: ... load_parameters complete
[roslaunch][INFO] 2023-07-25 01:23:11,175: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2023-07-25 01:23:11,176: ... preparing to launch node of type [rplidar_ros/rplidarNode]
[roslaunch][INFO] 2023-07-25 01:23:11,178: 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] 2023-07-25 01:23:11,180: process[rplidarNode-1]: env[{'ROS_IPV6': 'on', 'GLADE_PIXMAP_PATH': ':', 'XDG_CURRENT_DESKTOP': 'XFCE', 'ROSBOT_VER': 'ROSBOT_2.0', 'COLORTERM': 'truecolor', 'LOGNAME': 'husarion', 'USER': 'husarion', 'HOME': '/home/husarion', 'ROS_DISTRO': 'melodic', 'CMAKE_PREFIX_PATH': '/home/husarion/husarion_ws/devel:/opt/ros/melodic', 'ROS_LOG_FILENAME': '/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/roslaunch-husarion-2618.log', 'SSH_AGENT_PID': '1023', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'UID': '1000', 'SESSION_MANAGER': 'local/husarion:@/tmp/.ICE-unix/1032,unix/husarion:/tmp/.ICE-unix/1032', 'XDG_DATA_DIRS': '/usr/share/xfce4:/usr/local/share/:/usr/share/:/usr/share', 'LESSCLOSE': '/bin/lesspipe %s %s', 'LD_LIBRARY_PATH': '/home/husarion/husarion_ws/devel/lib:/opt/ros/melodic/lib', 'QT_ACCESSIBILITY': '1', 'GLADE_CATALOG_PATH': ':', 'ROS_PYTHON_VERSION': '2', 'XRDP_SOCKET_PATH': '/var/run/xrdp/sockdir', 'GLADE_MODULE_PATH': ':', 'PYTHONPATH': '/home/husarion/husarion_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/tmp/ssh-iHGngljoP5QA/agent.960', 'VTE_VERSION': '5202', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'PATH': '/opt/ros/melodic/bin:/sbin:/bin:/usr/bin:/usr/local/bin', 'PULSE_SCRIPT': '/etc/xrdp/pulse/default.pa', 'PKG_CONFIG_PATH': '/home/husarion/husarion_ws/devel/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/husarion/husarion_ws/src:/opt/ros/melodic/share', 'LESSOPEN': '| /bin/lesspipe %s', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-uDqVD1pqNp,guid=035f6ee10a4b81d11324a7c064bf2065', '_': '/opt/ros/melodic/bin/roslaunch', 'DESKTOP_SESSION': 'xfce', 'DISPLAY': ':10.0', 'XDG_CONFIG_DIRS': '/etc/xdg', 'XRDP_SESSION': '1', 'SHLVL': '1', 'PWD': '/home/husarion', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_MASTER_URI': 'http://master:11311', 'ROS_VERSION': '1', 'XDG_MENU_PREFIX': 'xfce-', '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:*.zst=01;31:*.tzst=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:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=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] 2023-07-25 01:23:11,411: process[rplidarNode-1]: args[[u'/home/husarion/husarion_ws/devel/lib/rplidar_ros/rplidarNode', u'__name:=rplidarNode']]
[roslaunch][INFO] 2023-07-25 01:23:11,412: ... created process [rplidarNode-1]
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,412: ProcessMonitor.register[rplidarNode-1]
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,413: ProcessMonitor.register[rplidarNode-1] complete
[roslaunch][INFO] 2023-07-25 01:23:11,413: ... registered process [rplidarNode-1]
[roslaunch][INFO] 2023-07-25 01:23:11,413: process[rplidarNode-1]: starting os process
[roslaunch][INFO] 2023-07-25 01:23:11,414: process[rplidarNode-1]: start w/ args [[u'/home/husarion/husarion_ws/devel/lib/rplidar_ros/rplidarNode', u'__name:=rplidarNode', u'__log:=/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/rplidarNode-1.log']]
[roslaunch][INFO] 2023-07-25 01:23:11,414: process[rplidarNode-1]: cwd will be [/home/husarion/.ros]
[roslaunch][INFO] 2023-07-25 01:23:11,424: process[rplidarNode-1]: started with pid [2633]
[roslaunch][INFO] 2023-07-25 01:23:11,424: ... successfully launched [rplidarNode-1]
[roslaunch][INFO] 2023-07-25 01:23:11,425: ... launch_nodes complete
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,426: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon -1239182240)>
[roslaunch.parent][INFO] 2023-07-25 01:23:11,426: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2023-07-25 01:23:11,426: spin
[roslaunch][ERROR] 2023-07-25 01:23:11,707: [rplidarNode-1] process has died [pid 2633, exit code 255, cmd /home/husarion/husarion_ws/devel/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/rplidarNode-1.log].
log file: /home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/rplidarNode-1*.log
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,707: ProcessMonitor.unregister[rplidarNode-1] starting
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,708: ProcessMonitor.unregister[rplidarNode-1] complete
[roslaunch][INFO] 2023-07-25 01:23:11,708: all processes on machine have died, roslaunch will exit
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,809: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1239182240)>
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,810: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1239182240)>: remaining procs are []
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,817: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,818: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2023-07-25 01:23:11,827: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2023-07-25 01:23:11,828: runner.stop()
[roslaunch][INFO] 2023-07-25 01:23:11,828: shutting down processing monitor...
[roslaunch][INFO] 2023-07-25 01:23:11,828: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon -1239182240)>
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,829: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1239182240)>
[roslaunch][INFO] 2023-07-25 01:23:11,829: ... shutting down processing monitor complete
[roslaunch][INFO] 2023-07-25 01:23:11,829: done
[roslaunch.pmon][INFO] 2023-07-25 01:23:11,830: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1239182240)>
[rospy.core][INFO] 2023-07-25 01:23:11,830: signal_shutdown [atexit]
rosout.log
1690248179.594788435 Node Startup
1690248180.019532694 WARN /rosbot_ekf [/tmp/binarydeb/ros-melodic-robot-localization-2.6.9/src/ros_filter.cpp:1348(RosFilter<T>::loadParams)] [topics: /rosout, /diagnostics, /tf] Both imu0_differential and imu0_relative were set to true. Using differential mode.
1690248180.712714910 INFO /serial_node [serial_node.py:86(<module>)] [topics: /rosout] Connecting to /dev/ttyS1 at 500000 baud
1690248182.832864046 INFO /serial_node [SerialClient.py:407(SerialClient.requestTopics)] [topics: /diagnostics, /rosout] Requesting topics...
1690248182.850789070 INFO /serial_node [SerialClient.py:565(SerialClient.setPublishSize)] [topics: /diagnostics, /rosout] Note: publish buffer size is 512 bytes
1690248182.866342067 INFO /serial_node [SerialClient.py:615(SerialClient.setupServiceServerPublisher)] [topics: /diagnostics, /rosout] Setup service server on config [rosbot_ekf/Configuration]
1690248183.121736049 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /diagnostics, /battery, /rosout] Setup publisher on battery [sensor_msgs/BatteryState]
1690248183.131617069 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /diagnostics, /battery, /rosout, /pose] Setup publisher on pose [geometry_msgs/PoseStamped]
1690248183.141017913 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /diagnostics, /battery, /pose, /rosout, /velocity] Setup publisher on velocity [geometry_msgs/Twist]
1690248183.155857086 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /range/fr, /pose, /velocity, /diagnostics, /battery, /rosout] Setup publisher on range/fr [sensor_msgs/Range]
1690248183.167870998 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /range/fr, /pose, /velocity, /diagnostics, /battery, /rosout, /range/fl] Setup publisher on range/fl [sensor_msgs/Range]
1690248183.187437057 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /battery, /rosout, /range/fl, /range/fr, /pose, /velocity, /diagnostics, /range/rr] Setup publisher on range/rr [sensor_msgs/Range]
1690248183.200618028 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /range/rl, /battery, /rosout, /range/fl, /range/fr, /pose, /velocity, /diagnostics, /range/rr] Setup publisher on range/rl [sensor_msgs/Range]
1690248183.216552019 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /range/rl, /battery, /joint_states, /rosout, /range/fl, /range/fr, /pose, /velocity, /diagnostics, /range/rr] Setup publisher on joint_states [sensor_msgs/JointState]
1690248183.232800960 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /range/rl, /battery, /joint_states, /rosout, /range/fl, /range/fr, /pose, /mpu9250, /velocity, /diagnostics, /range/rr] Setup publisher on mpu9250 [rosbot_ekf/Imu]
1690248183.249885082 INFO /serial_node [SerialClient.py:581(SerialClient.setupPublisher)] [topics: /range/rl, /battery, /joint_states, /rosout, /range/fl, /range/fr, /pose, /buttons, /mpu9250, /velocity, /diagnostics, /range/rr] Setup publisher on buttons [std_msgs/UInt8]
1690248183.258754968 INFO /serial_node [SerialClient.py:570(SerialClient.setSubscribeSize)] [topics: /range/rl, /battery, /joint_states, /rosout, /range/fl, /range/fr, /pose, /buttons, /mpu9250, /velocity, /diagnostics, /range/rr] Note: subscribe buffer size is 512 bytes
1690248183.279699087 INFO /serial_node [SerialClient.py:594(SerialClient.setupSubscriber)] [topics: /range/rl, /battery, /joint_states, /rosout, /range/fl, /range/fr, /pose, /buttons, /mpu9250, /velocity, /diagnostics, /range/rr, /cmd_vel] Setup subscriber on cmd_vel [geometry_msgs/Twist]
1690248183.294750928 INFO /serial_node [SerialClient.py:594(SerialClient.setupSubscriber)] [topics: /range/rl, /battery, /joint_states, /rosout, /range/fl, /range/fr, /pose, /buttons, /mpu9250, /velocity, /diagnostics, /cmd_ser, /range/rr, /cmd_vel] Setup subscriber on cmd_ser [std_msgs/UInt32]
1690248183.317965984 INFO /serial_node [SerialClient.py:733(SerialClient.handleLoggingRequest)] [topics: /range/rl, /battery, /joint_states, /rosout, /range/fl, /range/fr, /pose, /buttons, /mpu9250, /velocity, /diagnostics, /cmd_ser, /range/rr, /cmd_vel]
______ _____ _____ _ _ __
| ___ \| _ |/ ___|| | | | / _|
| |_/ /| | | |\ `--. | |__ ___ | |_ | |_ __ __
| / | | | | `--. \| '_ \ / _ \ | __| | _|\ \ /\ / /
| |\ \ \ \_/ //\__/ /| |_) || (_) || |_ | | \ V V /
\_| \_| \___/ \____/ |_.__/ \___/ \__| |_| \_/\_/
Firmware version: 0.14.2
1690248183.324507951 INFO /serial_node [SerialClient.py:733(SerialClient.handleLoggingRequest)] [topics: /range/rl, /battery, /joint_states, /rosout, /range/fl, /range/fr, /pose, /buttons, /mpu9250, /velocity, /diagnostics, /cmd_ser, /range/rr, /cmd_vel] Detected sensor: BNO055_ADDR_B
1690248187.063966306 WARN /rosbot_ekf [/tmp/binarydeb/ros-melodic-robot-localization-2.6.9/src/ros_filter_utilities.cpp:127(RosFilterUtilities::lookupTransformSafe)] [topics: /rosout, /diagnostics, /tf, /odom] Transform from imu_link to base_link was unavailable for the time requested. Using latest instead.
1690248293.864815974 WARN /rosbot_ekf [/tmp/binarydeb/ros-melodic-robot-localization-2.6.9/src/ros_filter_utilities.cpp:127(RosFilterUtilities::lookupTransformSafe)] [topics: /rosout, /diagnostics, /tf, /odom] Transform from imu_link to base_link was unavailable for the time requested. Using latest instead.
1690248374.913621361 WARN /rosbot_ekf [/tmp/binarydeb/ros-melodic-robot-localization-2.6.9/src/ros_filter_utilities.cpp:127(RosFilterUtilities::lookupTransformSafe)] [topics: /rosout, /diagnostics, /tf, /odom] Transform from imu_link to base_link was unavailable for the time requested. Using latest instead.
rosout-1-stdout.log
logging to /home/husarion/.ros/log/c8d84dea-2a89-11ee-b1b8-706655764da3/rosout.log
re-publishing aggregated messages to /rosout_agg
subscribed to /rosout
serial_node-2.log
[rospy.client][INFO] 2023-07-25 01:23:00,540: init_node, name[/serial_node], pid[2535]
[xmlrpc][INFO] 2023-07-25 01:23:00,541: XML-RPC server binding to :::0
[xmlrpc][INFO] 2023-07-25 01:23:00,542: binding ipv6 xmlrpc socket to('::', 0)
[xmlrpc][INFO] 2023-07-25 01:23:00,543: bound to ('::', 35405)
[xmlrpc][INFO] 2023-07-25 01:23:00,543: Started XML-RPC server [http://husarion:35405/]
[rospy.init][INFO] 2023-07-25 01:23:00,543: ROS Slave URI: [http://husarion:35405/]
[rospy.impl.masterslave][INFO] 2023-07-25 01:23:00,544: _ready: http://husarion:35405/
[xmlrpc][INFO] 2023-07-25 01:23:00,545: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2023-07-25 01:23:00,546: Registering with master node http://master:11311
[rospy.init][INFO] 2023-07-25 01:23:00,644: registered with master
[rospy.rosout][INFO] 2023-07-25 01:23:00,645: initializing /rosout core topic
[rospy.rosout][INFO] 2023-07-25 01:23:00,657: connected to core topic /rosout
[rospy.simtime][INFO] 2023-07-25 01:23:00,661: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rosout][INFO] 2023-07-25 01:23:00,674: ROS Serial Python Node
[rosout][INFO] 2023-07-25 01:23:00,702: Connecting to /dev/ttyS1 at 500000 baud
[rospy.internal][INFO] 2023-07-25 01:23:00,895: topic[/rosout] adding connection to [/rosout], count 0
[rosout][INFO] 2023-07-25 01:23:02,822: Requesting topics...
[rosout][INFO] 2023-07-25 01:23:02,846: Note: publish buffer size is 512 bytes
[rosout][INFO] 2023-07-25 01:23:02,860: Setup service server on config [rosbot_ekf/Configuration]
[rosout][INFO] 2023-07-25 01:23:03,118: Setup publisher on battery [sensor_msgs/BatteryState]
[rosout][INFO] 2023-07-25 01:23:03,128: Setup publisher on pose [geometry_msgs/PoseStamped]
[rosout][INFO] 2023-07-25 01:23:03,137: Setup publisher on velocity [geometry_msgs/Twist]
[rosout][INFO] 2023-07-25 01:23:03,151: Setup publisher on range/fr [sensor_msgs/Range]
[rosout][INFO] 2023-07-25 01:23:03,164: Setup publisher on range/fl [sensor_msgs/Range]
[rosout][INFO] 2023-07-25 01:23:03,182: Setup publisher on range/rr [sensor_msgs/Range]
[rosout][INFO] 2023-07-25 01:23:03,196: Setup publisher on range/rl [sensor_msgs/Range]
[rosout][INFO] 2023-07-25 01:23:03,212: Setup publisher on joint_states [sensor_msgs/JointState]
[rosout][INFO] 2023-07-25 01:23:03,229: Setup publisher on mpu9250 [rosbot_ekf/Imu]
[rosout][INFO] 2023-07-25 01:23:03,244: Setup publisher on buttons [std_msgs/UInt8]
[rosout][INFO] 2023-07-25 01:23:03,253: Note: subscribe buffer size is 512 bytes
[rosout][INFO] 2023-07-25 01:23:03,275: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[rosout][INFO] 2023-07-25 01:23:03,291: Setup subscriber on cmd_ser [std_msgs/UInt32]
[rosout][INFO] 2023-07-25 01:23:03,307:
______ _____ _____ _ _ __
| ___ \| _ |/ ___|| | | | / _|
| |_/ /| | | |\ `--. | |__ ___ | |_ | |_ __ __
| / | | | | `--. \| '_ \ / _ \ | __| | _|\ \ /\ / /
| |\ \ \ \_/ //\__/ /| |_) || (_) || |_ | | \ V V /
\_| \_| \___/ \____/ |_.__/ \___/ \__| |_| \_/\_/
Firmware version: 0.14.2
[rosout][INFO] 2023-07-25 01:23:03,320: Detected sensor: BNO055_ADDR_B
[rospy.internal][INFO] 2023-07-25 01:23:03,371: topic[/pose] adding connection to [/msgs_conversion], count 0
[rospy.internal][INFO] 2023-07-25 01:23:03,474: topic[/mpu9250] adding connection to [/msgs_conversion], count 0
Hi @chokings,
I have to ask you for one more try. Please download the newest ROSbot 2 image from here. Install it and flash the latest firmware. Try to launch again: roslaunch rplidar_ros rplidar.launch
If the output will still the same we will check which hardware part is causing this issue.
Best regards,
Hubert
Hello @Hubert_Zwiercan
I tested the robots 3 and 4 with the latest version of the image installed.
As a result, the lidar sensor operates intermittently, sometimes functioning correctly but other times either stops working or remains non-functional from the beginning.
And, no error messages are displayed.
When I connect and run the lidar sensors from robots 1 and 2, which are known to work correctly, there are no issues, and they function properly.
Additionally, robots 1 and 2 continue to work well even with older versions of the image installed.
Based on these results, it seems that the physical connection of the lidar sensors on robots 3 and 4 might be unstable.
How can I solve this problem?
I have not used the Lidar sensor since the purchase until recently, and when I tried to use it recently, this issue occurred.
Hi @chokings,
One more question. Did you switch only Lidars or Lidars and UART modules during the test? I’m asking because it’s possible that only some UART modules are damaged. Could you check it?
Best regards,
Hubert
Hi @chokings,
Unfortunately, it’s probably a hardware issue. I’m sorry, but in this case, the only solution is to replace the damaged sensors.
Best regards,
Hubert
Is it not possible to receive A/S? This is the first time I’ve used the Lidar sensor since purchasing the robot, and it’s not working.
Thank you.
Hi chokings,
Unfortunately, it’s impossible because your robots are more than a year after the warranty period. If Lidars are the only issue, I recommend buying it separately and replacing them.
Best regards,
Hubert