Tutorial - ROSBot - Quick start - Device Setup - Usage (webui / rviz)

Software
1

Using the the instruction on ROS Bot - quick start

After typing this code (sudo apt install python-pip ros-kinetic-rosbridge-suite ros-kinetic-web-video-server nginx) for device setup,

I get the following error:

E: Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-kinetic-web-video-server/ros-kinetic-web-video-server_0.2.0-0xenial-20190320-143549-0800_amd64.deb 404 Not Found [IP: 64.50.236.52 80]

E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

I am attemping to install webui for video streaming.

Thanks
Vineet

2

Hello Vineet,

There was recently update for GPG keys in ROS repositories, you can change them with:

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

More details are explained on ROS discourse.

Regards,
Łukasz

3

Lukasz,

Thanks for your reply. I will try this updated code.

For a beginner like me, i hope i can make suggestion for improvement to Husarion documentation.

Suggestion: So, i am following this for video streaming (About Husarion's tutorials | Husarion). That after running the ui or 4-wheels spy robot template, all we need to do is select the device name to view ui or 4-wheels spy robot ui. The code worked flowlessly. I am going to try the astro next.

Thanks for kind response, and i hope my suggestion makes sense.

Vineet

4

Lukasz,

How do i determine ROSBot_IP?

The instructions under quick start, option 2 (ethernet adapter), the ROSbot ip address is 192.168.0.1. WHen i do it, it time out.

I went to cloud and clicked device name, and local ip address is listed. Is that my machine or rosbot ip address?

Thanks
Vineet

5

Hello Vineet,

The IP address provided in option 2 (ethernet adapter) is valid only when you are connected through this adapter.
In any other case, the ROSbot IP address can be found in cloud panel.

Regards,
Łukasz

6

Thanks Lukasz.

I will try the previous link sent for the next step.

Vineet

7

Lukasz,

first, i do ssh husarion@rosbot_pi, i get the print in large “ROSBOT2-ROS”.

second, type sudo apt update and following prints:

Hit:1 Index of /mozillateam/ppa/ubuntu xenial InRelease
Hit:2 Index of /ubuntu-ports xenial InRelease
Get:4 Index of /ubuntu-ports xenial-security InRelease [109 kB]
Get:3 http://packages.ros.org/ros/ubuntu xenial InRelease [4678 B]
Get:5 Index of /ubuntu-ports xenial-updates InRelease [109 kB]
Err:3 http://packages.ros.org/ros/ubuntu xenial InRelease
The following signatures couldn’t be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
Hit:6 Index of /repo/ xenial InRelease
Get:7 Index of /ubuntu-ports xenial-updates/main armhf Packages [752 kB]
Get:8 Index of /ubuntu-ports xenial-updates/universe armhf Packages [667 kB]
Fetched 1642 kB in 3s (531 kB/s)
Reading package lists… Done
Building dependency tree
Reading state information… Done
75 packages can be upgraded. Run ‘apt list --upgradable’ to see them.
W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://packages.ros.org/ros/ubuntu xenial InRelease: The following signatures couldn’t be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
W: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/xenial/InRelease The following signatures couldn’t be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
W: Some index files failed to download. They have been ignored, or old ones used instead.

What needs to be correct?

thanks
Vineet

8

Lukasz,

I got error with “sudo dist-upgrade”.

Type the two lines you provide were no errors.

line1: sudo apt-key adv --keyserver ‘hkp://keyserver.ubuntu.com:80’ --recv-key C1CF6E
31E6BADE8868B172B4F42ED6FBAB17C654

line 2: sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

typed this: python -m pip install --user tornado==4.5.3 python-wifi ifparser,

and got the following response

/usr/bin/python: No module named pip

Help…

Thanks again.

9

Hello Vineet,

To install missing pip module:

sudo apt install python-pip

Regards,
Łukasz

10

Lukasz,

It works. You are awesome. Thanks for helping the ignorant (me). nginx is not requrired?

For others, below are the updated steps

line 1: sudo apt update

Install the required packages:

line 2: sudo apt-key adv --keyserver ‘hkp://keyserver.ubuntu.com:80’ --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

line 3: sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

line 4: sudo apt install python-pip

line 5: python -m pip install --user tornado==4.5.3 python-wifi ifparser

Create new work space and changes directory…

…

Staying in terminal issue command:

sudo nano /etc/nginx/sites-enabled/default

Respond with the file does not exist.

Am i to assume that nginx is not required anymore?

Thanks
Vineet

11

Lukasz,

Usage

I use ROBOBOT 2.0

line: roslaunch rosbot_webui demo.launch

responds with

…
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py”, line 383, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py”, line 151, in _find
source_path_to_packages=source_path_to_packages)
File “/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py”, line 197, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File “/usr/lib/python2.7/dist-packages/rospkg/rospack.py”, line 203, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: rosbridge_server
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/husarion/ros_workspace/src
ROS path [2]=/opt/ros/kinetic/share

another hint please.

Thanks
Vineet

12

Hello Vineet,

Above error means that you have not installed rosbridge_server package:

sudo apt install ros-kinetic-rosbridge-suite ros-kinetic-web-video-server

Regards,
Łukasz

13

Lukasz,

Install the required packages:

line 1: sudo apt update

line 2: sudo apt-key adv --keyserver ‘hkp://keyserver.ubuntu.com:80’ --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
(Note: above line, the copy and paste does not work. So, use the one provided by Lukasz earlier.)

line 3: sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

line 4: sudo apt install python-pip

line 5: python -m pip install --user tornado==4.5.3 python-wifi ifparser

line 5a. pip install --upgrade pip

Create new work space and change directory

line 5b: mkdir ~/ros_workspace

line 5c: cd ~/ros_workspace/src

Clone repository containing rosbot webui:

line 5d: git clone GitHub - husarion/rosbot_webui

Clone husarion_ros repository:

line 5e: git clone GitHub - husarion/husarion_ros: Package containing some nodes specific for Husarion robots.

Change directory and build code using catkin_make:

line 5f: cd ~/ros_workspace

line 5g: catkin_make

Add environmental variables by executing this in Linux command line:

line 5h: source devel/setup.sh

line 6: sudo apt install ros-kinetic-rosbridge-suite ros-kinetic-web-video-server

line 7: roslaunch rosbot_webui demo.launch

… get this error … connected iphone 6 and astra.

[ WARN] [1560821527.722405334]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100166 timeout was 0.1.
[ WARN] [1560821527.897273796]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821528.897699722]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821529.898239989]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821530.898847931]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821531.899225458]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821532.758694830]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100212 timeout was 0.1.
[ WARN] [1560821532.767700219]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100432 timeout was 0.1.
[ WARN] [1560821532.899750869]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821533.900286494]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ERROR] [1560821533.979869]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
[ WARN] [1560821534.900768166]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821535.901304387]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821536.902070160]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821537.813921319]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.10046 timeout was 0.1.
[ WARN] [1560821537.814955298]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100368 timeout was 0.1.
[ WARN] [1560821537.902635852]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821538.904088234]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821539.908256967]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821540.908636881]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821541.909080676]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821542.863848851]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100636 timeout was 0.1.
[ WARN] [1560821542.866278774]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100815 timeout was 0.1.
[ WARN] [1560821542.909590980]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821543.910128415]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821544.910556187]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821545.911178510]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821546.911614168]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821547.912350547]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560821547.920605172]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.103292 timeout was 0.1.
[ WARN] [1560821547.927227597]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100407 timeout was 0.1.
[ WARN] [1560821548.912687048]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ERROR] [1560821548.987754]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
^C[rosapi-30] killing on exit
[webvideo4-28] killing on exit
[rosbridge_websocket-29] killing on exit
[explore_server-27] killing on exit
[explore_client-26] killing on exit
[move_base-24] killing on exit
[gmapping_supervisor-25] killing on exit
[depth_clipping_node-23] killing on exit
[pose_to_tf_transform-21] killing on exit
[tf_to_pose-22] killing on exit
[ WARN] [1560821549.913053889]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[gmapping_node-1] killing on exit
[ INFO] [1560821550.315648344]: Stopping color stream.
[ROSbot2_camera-20] killing on exit
[ROSbot2_laser-19] killing on exit
[wifi_publisher-18] killing on exit
[bridge-17] killing on exit
[INFO] [1560821550.709663]: Send tx stop request
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree
[camera_base_link3-15] killing on exit
[camera_base_link2-14] killing on exit
[camera_base_link1-13] killing on exit
[camera_base_link-12] killing on exit
[camera/depth_registered_sw_metric_rect-11] killing on exit
Stopped
[camera/points_xyzrgb_sw_registered-10] killing on exit
[camera/register_depth_rgb-9] killing on exit
[camera/depth_points-8] killing on exit
[camera/depth_metric-7] killing on exit
[camera/depth_metric_rect-6] killing on exit
[camera/depth_rectify_depth-5] killing on exit
[camera/rgb_rectify_color-4] killing on exit
[ INFO] [1560821551.465238078]: Stopping depth stream.
[camera/driver-3] killing on exit
[camera/camera_nodelet_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete

Thanks
Vineet

14

Hello Vineet,

The error
Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees
means that we need to debug tf tree.
Please provide screenshots of:

rosrun rqt_tf_tree rqt_tf_tree

and

rosrun rqt_graph rqt_graph

In case, rqt_tf_tree is not installed on your system, you can install it with: sudo apt install ros-kinetic-rqt-tf-tree

Regards,
Łukasz

15

Lukasz,

After this, rosrun rqt_tf_tree rqt_tf_tree, it says:

[rospack] Error: package ‘rqt_tf_tree’ not found

after typing: rosrun rqt_graph rqt_graph
QXcbConnection: Could not connect to display

photo atta

thumbnail
thumbnail1080×810 136 KB
ched of three secreens.

Thanks
Vineet

16

Hello Vineet,

The error

package ‘rqt_tf_tree’ not found

means package rqt_tf_tree` is not installed, please install it with

sudo apt install ros-kinetic-rqt-tf-tree

You are getting QXcbConnection: Could not connect to display error because you are connecting through SSH - this interface allows only text based applications.

To use graphical applications, please connect to ROSbot through Remote Desktop. Please open Remmina Remote Desktop Client, choose RDP protocol and provide your ROSbot IP address.

When you have remote desktop connected, please run the graph tools again.

Regards,
Łukasz

17

Lukasz,

Below are four images of tree and graph with errors and running the roslaunch webui line.

rqt_tf_graph2
rqt_tf_graph21080×810 86.2 KB
rqt_tf_tree1
rqt_tf_tree11080×810 60 KB
rqt_tf_graph1
rqt_tf_graph11080×810 59.6 KB
rqt_tf_tree2
rqt_tf_tree21080×810 105 KB

After running this code rosrun rqt_graph rqt_graph, i get the similar error:

WARN] [1560992620.727235553]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100186 timeout was 0.1.
[ WARN] [1560992621.013475902]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992622.013898305]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992623.014480833]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992624.015040318]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992625.015367051]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992625.696254754]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100174 timeout was 0.1.
[ WARN] [1560992625.770472873]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100816 timeout was 0.1.
[ WARN] [1560992626.015764366]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992627.016178013]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992628.016575617]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992629.017061595]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992630.017551363]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992630.760810841]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100589 timeout was 0.1.
[ WARN] [1560992630.814191409]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100109 timeout was 0.1.
[ WARN] [1560992631.019623423]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992632.020069147]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ERROR] [1560992632.111709]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
[ WARN] [1560992633.020552786]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992634.025363009]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992635.030214065]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992635.805947136]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.101285 timeout was 0.1.
[ WARN] [1560992635.872179417]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100251 timeout was 0.1.
[ WARN] [1560992636.030809117]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992637.031308792]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992638.031705800]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992639.032591348]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992640.032930895]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992640.861690444]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.10203 timeout was 0.1.
[ WARN] [1560992640.926138307]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100086 timeout was 0.1.
[ WARN] [1560992641.033304273]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1560992642.033675026]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
^C[rosbridge_websocket-28] killing on exit
[rosapi-29] killing on exit
[webvideo4-27] killing on exit
[explore_server-26] killing on exit
[explore_client-25] killing on exit
[gmapping_supervisor-24] killing on exit
[move_base-23] killing on exit
[gmapping_node-1] killing on exit
[depth_clipping_node-22] killing on exit
[ WARN] [1560992643.034039944]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[tf_to_pose-21] killing on exit
[pose_to_tf_transform-20] killing on exit
[ INFO] [1560992643.540769592]: Stopping color stream.
[ROSbot2_camera-19] killing on exit
[ROSbot2_laser-18] killing on exit
[wifi_publisher-17] killing on exit
[bridge-16] killing on exit
[INFO] [1560992643.870998]: Send tx stop request
[camera_base_link3-14] killing on exit
[camera_base_link2-13] killing on exit
[camera_base_link1-12] killing on exit
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree
[camera_base_link-11] killing on exit
[camera/depth_registered_sw_metric_rect-10] killing on exit
[camera/points_xyzrgb_sw_registered-9] killing on exit
Stopped
[camera/register_depth_rgb-8] killing on exit
[camera/depth_points-7] killing on exit
[camera/depth_metric-6] killing on exit
[camera/depth_metric_rect-5] killing on exit
[camera/depth_rectify_depth-4] killing on exit
[ INFO] [1560992644.587823363]: Stopping depth stream.
[camera/rgb_rectify_color-3] killing on exit
[camera/driver-2] killing on exit
[camera/camera_nodelet_manager-1] killing on exit
shutting down processing monitor…

Thanks
Vineet

18

Notes so far to run webui and rviz:

Use Remmina Remote Desktop Client

line 1: sudo apt update

line 2: sudo apt-key adv --keyserver ‘hkp://keyserver.ubuntu.com:80’ --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
(Note: above line, the copy and paste does not work. So, use the one provided by Lukasz earlier.)

line 3: sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

line 4: sudo apt install python-pip

line 5: python -m pip install --user tornado==4.5.3 python-wifi ifparser

line 5a. pip install --upgrade pip

Returns: Traceback (most recent call last):
File “/usr/bin/pip”, line 9, in
from pip import main
ImportError: cannot import name main

Create new work space and change directory

line 5b: mkdir ~/ros_workspace

line 5c: cd ~/ros_workspace/src

Clone repository containing rosbot webui:

line 5d: git clone GitHub - husarion/rosbot_webui

Clone husarion_ros repository:

line 5e: git clone GitHub - husarion/husarion_ros: Package containing some nodes specific for Husarion robots.

Change directory and build code using catkin_make:

line 5f: cd ~/ros_workspace

line 5g: catkin_make

Add environmental variables by executing this in Linux command line:

line 5h: source devel/setup.sh

line 6: sudo apt install ros-kinetic-rosbridge-suite ros-kinetic-web-video-server

line 6a: sudo apt install ros-kinetic-rqt-tf-tree

line 7: roslaunch rosbot_webui demo.launch

After updating ubuntu and cold boot, running graph and tree code,

rosrun rqt_tf_tree rqt_tf_tree, and

rosrun rqt_graph rqt_graph

I get the following:

graph
graph810×1080 104 KB
tree
tree1080×810 168 KB

And After webui launch code:

husarion@husarion:~/ros_workspace$ roslaunch rosbot_webui demo.launch
… logging to /home/husarion/.ros/log/e2d1f416-944d-11e9-b24f-409f384ed2fb/roslaunch-husarion-21559.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:33026/

SUMMARY

PARAMETERS

  • /camera/camera_nodelet_manager/num_worker_threads: 4
  • /camera/depth_rectify_depth/interpolation: 0
  • /camera/driver/auto_exposure: True
  • /camera/driver/auto_white_balance: True
  • /camera/driver/bootorder: 0
  • /camera/driver/color_depth_synchronization: False
  • /camera/driver/depth_camera_info_url:
  • /camera/driver/depth_frame_id: camera_depth_opti…
  • /camera/driver/depth_registration: False
  • /camera/driver/device_id: #1
  • /camera/driver/devnums: 1
  • /camera/driver/rgb_camera_info_url:
  • /camera/driver/rgb_frame_id: camera_rgb_optica…
  • /explore_server/explore_costmap/explore_boundary/explore_clear_space: False
  • /explore_server/explore_costmap/explore_boundary/frontier_travel_point: middle
  • /explore_server/explore_costmap/explore_boundary/resize_to_boundary: False
  • /explore_server/explore_costmap/footprint: [[0.1, 0.12], [0…
  • /explore_server/explore_costmap/global_frame: map
  • /explore_server/explore_costmap/inflation/inflation_radius: 0.2
  • /explore_server/explore_costmap/plugins: [{‘type’: 'costma…
  • /explore_server/explore_costmap/publish_frequency: 5
  • /explore_server/explore_costmap/robot_base_frame: base_link
  • /explore_server/explore_costmap/static/map_topic: /map
  • /explore_server/explore_costmap/static/subscribe_to_updates: True
  • /explore_server/explore_costmap/transform_tolerance: 5
  • /explore_server/explore_costmap/update_frequency: 5
  • /explore_server/frequency: 1.0
  • /explore_server/goal_aliasing: 0.1
  • /move_base/TrajectoryPlannerROS/acc_lim_Y: 2.5
  • /move_base/TrajectoryPlannerROS/acc_lim_theta: 0.25
  • /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
  • /move_base/TrajectoryPlannerROS/holonomic_robot: False
  • /move_base/TrajectoryPlannerROS/max_vel_theta: 0.35
  • /move_base/TrajectoryPlannerROS/max_vel_x: 0.2
  • /move_base/TrajectoryPlannerROS/meter_scoring: True
  • /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.25
  • /move_base/TrajectoryPlannerROS/min_vel_theta: -0.35
  • /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
  • /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.15
  • /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.25
  • /move_base/controller_frequency: 10.0
  • /move_base/global_costmap/always_send_full_costmap: True
  • /move_base/global_costmap/footprint: [[0.1, 0.12], [0…
  • /move_base/global_costmap/global_frame: map
  • /move_base/global_costmap/height: 5
  • /move_base/global_costmap/inflation_radius: 0.7
  • /move_base/global_costmap/laser_scan_sensor/clearing: True
  • /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/global_costmap/laser_scan_sensor/marking: True
  • /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/global_costmap/laser_scan_sensor/topic: scan
  • /move_base/global_costmap/map_topic: /map
  • /move_base/global_costmap/observation_sources: laser_scan_sensor
  • /move_base/global_costmap/obstacle_range: 6.0
  • /move_base/global_costmap/origin_x: -2.5
  • /move_base/global_costmap/origin_y: -2.5
  • /move_base/global_costmap/publish_frequency: 1
  • /move_base/global_costmap/raytrace_range: 8.0
  • /move_base/global_costmap/resolution: 0.01
  • /move_base/global_costmap/robot_base_frame: base_link
  • /move_base/global_costmap/rolling_window: True
  • /move_base/global_costmap/static_map: False
  • /move_base/global_costmap/subscribe_to_updates: True
  • /move_base/global_costmap/transform_tolerance: 5
  • /move_base/global_costmap/update_frequency: 1
  • /move_base/global_costmap/width: 5
  • /move_base/local_costmap/always_send_full_costmap: True
  • /move_base/local_costmap/footprint: [[0.1, 0.12], [0…
  • /move_base/local_costmap/global_frame: map
  • /move_base/local_costmap/height: 3
  • /move_base/local_costmap/inflation_radius: 0.4
  • /move_base/local_costmap/laser_scan_sensor/clearing: True
  • /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/local_costmap/laser_scan_sensor/marking: True
  • /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/local_costmap/laser_scan_sensor/topic: scan
  • /move_base/local_costmap/map_topic: /map
  • /move_base/local_costmap/observation_sources: laser_scan_sensor
  • /move_base/local_costmap/obstacle_range: 6.0
  • /move_base/local_costmap/origin_x: -1.5
  • /move_base/local_costmap/origin_y: -1.5
  • /move_base/local_costmap/publish_frequency: 2.5
  • /move_base/local_costmap/raytrace_range: 8.0
  • /move_base/local_costmap/resolution: 0.01
  • /move_base/local_costmap/robot_base_frame: base_link
  • /move_base/local_costmap/rolling_window: True
  • /move_base/local_costmap/static_map: False
  • /move_base/local_costmap/subscribe_to_updates: True
  • /move_base/local_costmap/transform_tolerance: 5
  • /move_base/local_costmap/update_frequency: 2.5
  • /move_base/local_costmap/width: 3
  • /move_base/recovery_behavior_enabled: True
  • /rosapi/params_glob: [*]
  • /rosapi/services_glob: [*]
  • /rosapi/topics_glob: [*]
  • /rosbridge_websocket/address:
  • /rosbridge_websocket/authenticate: False
  • /rosbridge_websocket/bson_only_mode: False
  • /rosbridge_websocket/delay_between_messages: 0
  • /rosbridge_websocket/fragment_timeout: 600
  • /rosbridge_websocket/max_message_size: None
  • /rosbridge_websocket/params_glob: [*]
  • /rosbridge_websocket/port: 9090
  • /rosbridge_websocket/retry_startup_delay: 5
  • /rosbridge_websocket/services_glob: [*]
  • /rosbridge_websocket/topics_glob: [*]
  • /rosbridge_websocket/unregister_timeout: 10
  • /rosbridge_websocket/use_compression: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.14
  • /rplidarNode/angle_compensate: True
  • /rplidarNode/frame_id: laser
  • /rplidarNode/inverted: False
  • /rplidarNode/serial_baudrate: 115200
  • /rplidarNode/serial_port: /dev/ttyUSB0
  • /webvideo4/address: ::
  • /webvideo4/port: 8082

NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
/
ROSbot2_camera (tf/static_transform_publisher)
ROSbot2_laser (tf/static_transform_publisher)
bridge (rosbot_webui/serial_bridge.sh)
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
depth_clipping_node (husarion_ros/depth_clipping_node)
explore_client (frontier_exploration/explore_client)
explore_server (frontier_exploration/explore_server)
gmapping_supervisor (rosbot_webui/gmapping_supervisor.py)
move_base (move_base/move_base)
pose_to_tf_transform (rosbot_webui/pose_to_tf_transform)
rosapi (rosapi/rosapi_node)
rosbridge_websocket (rosbridge_server/rosbridge_websocket)
rplidarNode (rplidar_ros/rplidarNode)
tf_to_pose (rosbot_webui/tf_to_pose)
webvideo4 (web_video_server/web_video_server)
wifi_publisher (husarion_ros/wifi.py)

auto-starting new master
process[master]: started with pid [21611]
ROS_MASTER_URI=http://master:11311

setting /run_id to e2d1f416-944d-11e9-b24f-409f384ed2fb
process[rosout-1]: started with pid [21648]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [21671]
process[camera/driver-3]: started with pid [21672]
process[camera/rgb_rectify_color-4]: started with pid [21675]
process[camera/depth_rectify_depth-5]: started with pid [21676]
process[camera/depth_metric_rect-6]: started with pid [21677]
process[camera/depth_metric-7]: started with pid [21684]
process[camera/depth_points-8]: started with pid [21691]
process[camera/register_depth_rgb-9]: started with pid [21698]
process[camera/points_xyzrgb_sw_registered-10]: started with pid [21716]
process[camera/depth_registered_sw_metric_rect-11]: started with pid [21721]
process[camera_base_link-12]: started with pid [21726]
process[camera_base_link1-13]: started with pid [21741]
process[camera_base_link2-14]: started with pid [21754]
process[camera_base_link3-15]: started with pid [21758]
[ INFO] [1561139787.480080613]: Initializing nodelet with 4 worker threads.
process[rplidarNode-16]: started with pid [21765]
process[bridge-17]: started with pid [21784]
process[wifi_publisher-18]: started with pid [21802]
process[ROSbot2_laser-19]: started with pid [21820]
process[ROSbot2_camera-20]: started with pid [21826]
process[pose_to_tf_transform-21]: started with pid [21832]
process[tf_to_pose-22]: started with pid [21837]
process[depth_clipping_node-23]: started with pid [21843]
process[move_base-24]: started with pid [21850]
process[gmapping_supervisor-25]: started with pid [21863]
process[explore_client-26]: started with pid [21881]
process[explore_server-27]: started with pid [21887]
process[webvideo4-28]: started with pid [21891]
process[rosbridge_websocket-29]: started with pid [21901]
process[rosapi-30]: started with pid [21909]
[ INFO] [1561139788.994735290]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[INFO] [1561139789.035983]: ROS Serial Python Node
[ INFO] [1561139789.050622092]: Please use the ‘Point’ tool in Rviz to select an exporation boundary.
[ INFO] [1561139789.078860368]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0
[ERROR] [1561139789.079142410]: Error, cannot bind to the specified serial port /dev/ttyUSB0.
[INFO] [1561139789.092223]: wifi_status publisher node started
[INFO] [1561139789.251222]: Connecting to /dev/ttyCORE2 at 500000 baud
[rplidarNode-16] process has died [pid 21765, exit code 255, cmd /opt/ros/kinetic/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/husarion/.ros/log/e2d1f416-944d-11e9-b24f-409f384ed2fb/rplidarNode-16.log].
log file: /home/husarion/.ros/log/e2d1f416-944d-11e9-b24f-409f384ed2fb/rplidarNode-16*.log
[ WARN] [1561139789.316280406]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
registered capabilities (classes):

  • rosbridge_library.capabilities.call_service.CallService
  • rosbridge_library.capabilities.advertise.Advertise
  • rosbridge_library.capabilities.publish.Publish
  • rosbridge_library.capabilities.subscribe.Subscribe
  • <class ‘rosbridge_library.capabilities.defragmentation.Defragment’>
  • rosbridge_library.capabilities.advertise_service.AdvertiseService
  • rosbridge_library.capabilities.service_response.ServiceResponse
  • rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
    [ WARN] [1561139790.316780257]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
    [INFO] [1561139790.416122]: Rosbridge WebSocket server started on port 9090
    started roslaunch server http://husarion:33359/

SUMMARY

PARAMETERS

  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES

ROS_MASTER_URI=http://master:11311
process[gmapping_node-1]: started with pid [22363]
Started supervisor
True
[ WARN] [1561139791.317102836]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ INFO] [1561139791.995160175]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561139792.317464558]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561139793.317760717]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561139794.318081146]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561139794.838482897]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100991 timeout was 0.1.
[ WARN] [1561139794.910108921]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100349 timeout was 0.1.
[ INFO] [1561139794.995604859]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561139795.318387343]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561139796.318693310]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561139797.318992630]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ INFO] [1561139797.995959967]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561139798.319274802]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561139799.319558492]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561139799.873526278]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.101009 timeout was 0.1.
[ WARN] [1561139799.939998574]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.10008 timeout was 0.1.
[ WARN] [1561139800.319840201]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ INFO] [1561139800.996322035]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561139801.320169803]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561139802.320467382]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
^C[rosapi-30] killing on exit
[rosbridge_websocket-29] killing on exit
[webvideo4-28] killing on exit
[explore_server-27] killing on exit
[explore_client-26] killing on exit
[gmapping_supervisor-25] killing on exit
[pose_to_tf_transform-21] killing on exit
[move_base-24] killing on exit
[depth_clipping_node-23] killing on exit
[gmapping_node-1] killing on exit
[tf_to_pose-22] killing on exit
[ROSbot2_camera-20] killing on exit
[ROSbot2_laser-19] killing on exit
[wifi_publisher-18] killing on exit
[bridge-17] killing on exit
[INFO] [1561139803.802552]: Send tx stop request
[camera_base_link3-15] killing on exit
[camera_base_link2-14] killing on exit
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree
[camera_base_link1-13] killing on exit
[ INFO] [1561139803.996744145]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
Stopped
[camera_base_link-12] killing on exit
[camera/depth_registered_sw_metric_rect-11] killing on exit
[camera/points_xyzrgb_sw_registered-10] killing on exit
[camera/register_depth_rgb-9] killing on exit
[camera/depth_points-8] killing on exit
[camera/depth_metric-7] killing on exit
[camera/depth_metric_rect-6] killing on exit
[camera/depth_rectify_depth-5] killing on exit
[camera/rgb_rectify_color-4] killing on exit
[camera/driver-3] killing on exit
[camera/camera_nodelet_manager-2] killing on exit
[camera/camera_nodelet_manager-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete

19

After connecting, lidar:

usarion@husarion:~/ros_workspace/src/rosbot_webui$ roslaunch rosbot_webui demo.launch
… logging to /home/husarion/.ros/log/f762479a-944e-11e9-9c16-409f384ed2fb/roslaunch-husarion-32170.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:37855/

SUMMARY

PARAMETERS

  • /camera/camera_nodelet_manager/num_worker_threads: 4
  • /camera/depth_rectify_depth/interpolation: 0
  • /camera/driver/auto_exposure: True
  • /camera/driver/auto_white_balance: True
  • /camera/driver/bootorder: 0
  • /camera/driver/color_depth_synchronization: False
  • /camera/driver/depth_camera_info_url:
  • /camera/driver/depth_frame_id: camera_depth_opti…
  • /camera/driver/depth_registration: False
  • /camera/driver/device_id: #1
  • /camera/driver/devnums: 1
  • /camera/driver/rgb_camera_info_url:
  • /camera/driver/rgb_frame_id: camera_rgb_optica…
  • /explore_server/explore_costmap/explore_boundary/explore_clear_space: False
  • /explore_server/explore_costmap/explore_boundary/frontier_travel_point: middle
  • /explore_server/explore_costmap/explore_boundary/resize_to_boundary: False
  • /explore_server/explore_costmap/footprint: [[0.1, 0.12], [0…
  • /explore_server/explore_costmap/global_frame: map
  • /explore_server/explore_costmap/inflation/inflation_radius: 0.2
  • /explore_server/explore_costmap/plugins: [{‘type’: 'costma…
  • /explore_server/explore_costmap/publish_frequency: 5
  • /explore_server/explore_costmap/robot_base_frame: base_link
  • /explore_server/explore_costmap/static/map_topic: /map
  • /explore_server/explore_costmap/static/subscribe_to_updates: True
  • /explore_server/explore_costmap/transform_tolerance: 5
  • /explore_server/explore_costmap/update_frequency: 5
  • /explore_server/frequency: 1.0
  • /explore_server/goal_aliasing: 0.1
  • /move_base/TrajectoryPlannerROS/acc_lim_Y: 2.5
  • /move_base/TrajectoryPlannerROS/acc_lim_theta: 0.25
  • /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
  • /move_base/TrajectoryPlannerROS/holonomic_robot: False
  • /move_base/TrajectoryPlannerROS/max_vel_theta: 0.35
  • /move_base/TrajectoryPlannerROS/max_vel_x: 0.2
  • /move_base/TrajectoryPlannerROS/meter_scoring: True
  • /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.25
  • /move_base/TrajectoryPlannerROS/min_vel_theta: -0.35
  • /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
  • /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.15
  • /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.25
  • /move_base/controller_frequency: 10.0
  • /move_base/global_costmap/always_send_full_costmap: True
  • /move_base/global_costmap/footprint: [[0.1, 0.12], [0…
  • /move_base/global_costmap/global_frame: map
  • /move_base/global_costmap/height: 5
  • /move_base/global_costmap/inflation_radius: 0.7
  • /move_base/global_costmap/laser_scan_sensor/clearing: True
  • /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/global_costmap/laser_scan_sensor/marking: True
  • /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/global_costmap/laser_scan_sensor/topic: scan
  • /move_base/global_costmap/map_topic: /map
  • /move_base/global_costmap/observation_sources: laser_scan_sensor
  • /move_base/global_costmap/obstacle_range: 6.0
  • /move_base/global_costmap/origin_x: -2.5
  • /move_base/global_costmap/origin_y: -2.5
  • /move_base/global_costmap/publish_frequency: 1
  • /move_base/global_costmap/raytrace_range: 8.0
  • /move_base/global_costmap/resolution: 0.01
  • /move_base/global_costmap/robot_base_frame: base_link
  • /move_base/global_costmap/rolling_window: True
  • /move_base/global_costmap/static_map: False
  • /move_base/global_costmap/subscribe_to_updates: True
  • /move_base/global_costmap/transform_tolerance: 5
  • /move_base/global_costmap/update_frequency: 1
  • /move_base/global_costmap/width: 5
  • /move_base/local_costmap/always_send_full_costmap: True
  • /move_base/local_costmap/footprint: [[0.1, 0.12], [0…
  • /move_base/local_costmap/global_frame: map
  • /move_base/local_costmap/height: 3
  • /move_base/local_costmap/inflation_radius: 0.4
  • /move_base/local_costmap/laser_scan_sensor/clearing: True
  • /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/local_costmap/laser_scan_sensor/marking: True
  • /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/local_costmap/laser_scan_sensor/topic: scan
  • /move_base/local_costmap/map_topic: /map
  • /move_base/local_costmap/observation_sources: laser_scan_sensor
  • /move_base/local_costmap/obstacle_range: 6.0
  • /move_base/local_costmap/origin_x: -1.5
  • /move_base/local_costmap/origin_y: -1.5
  • /move_base/local_costmap/publish_frequency: 2.5
  • /move_base/local_costmap/raytrace_range: 8.0
  • /move_base/local_costmap/resolution: 0.01
  • /move_base/local_costmap/robot_base_frame: base_link
  • /move_base/local_costmap/rolling_window: True
  • /move_base/local_costmap/static_map: False
  • /move_base/local_costmap/subscribe_to_updates: True
  • /move_base/local_costmap/transform_tolerance: 5
  • /move_base/local_costmap/update_frequency: 2.5
  • /move_base/local_costmap/width: 3
  • /move_base/recovery_behavior_enabled: True
  • /rosapi/params_glob: [*]
  • /rosapi/services_glob: [*]
  • /rosapi/topics_glob: [*]
  • /rosbridge_websocket/address:
  • /rosbridge_websocket/authenticate: False
  • /rosbridge_websocket/bson_only_mode: False
  • /rosbridge_websocket/delay_between_messages: 0
  • /rosbridge_websocket/fragment_timeout: 600
  • /rosbridge_websocket/max_message_size: None
  • /rosbridge_websocket/params_glob: [*]
  • /rosbridge_websocket/port: 9090
  • /rosbridge_websocket/retry_startup_delay: 5
  • /rosbridge_websocket/services_glob: [*]
  • /rosbridge_websocket/topics_glob: [*]
  • /rosbridge_websocket/unregister_timeout: 10
  • /rosbridge_websocket/use_compression: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.14
  • /rplidarNode/angle_compensate: True
  • /rplidarNode/frame_id: laser
  • /rplidarNode/inverted: False
  • /rplidarNode/serial_baudrate: 115200
  • /rplidarNode/serial_port: /dev/ttyUSB0
  • /webvideo4/address: ::
  • /webvideo4/port: 8082

NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
/
ROSbot2_camera (tf/static_transform_publisher)
ROSbot2_laser (tf/static_transform_publisher)
bridge (rosbot_webui/serial_bridge.sh)
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
depth_clipping_node (husarion_ros/depth_clipping_node)
explore_client (frontier_exploration/explore_client)
explore_server (frontier_exploration/explore_server)
gmapping_supervisor (rosbot_webui/gmapping_supervisor.py)
move_base (move_base/move_base)
pose_to_tf_transform (rosbot_webui/pose_to_tf_transform)
rosapi (rosapi/rosapi_node)
rosbridge_websocket (rosbridge_server/rosbridge_websocket)
rplidarNode (rplidar_ros/rplidarNode)
tf_to_pose (rosbot_webui/tf_to_pose)
webvideo4 (web_video_server/web_video_server)
wifi_publisher (husarion_ros/wifi.py)

auto-starting new master
process[master]: started with pid [32216]
ROS_MASTER_URI=http://master:11311

setting /run_id to f762479a-944e-11e9-9c16-409f384ed2fb
process[rosout-1]: started with pid [32255]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [32276]
process[camera/driver-3]: started with pid [32279]
process[camera/rgb_rectify_color-4]: started with pid [32280]
process[camera/depth_rectify_depth-5]: started with pid [32281]
process[camera/depth_metric_rect-6]: started with pid [32284]
process[camera/depth_metric-7]: started with pid [32291]
[ INFO] [1561140251.220552492]: Initializing nodelet with 4 worker threads.
process[camera/depth_points-8]: started with pid [32323]
process[camera/register_depth_rgb-9]: started with pid [32342]
process[camera/points_xyzrgb_sw_registered-10]: started with pid [32347]
process[camera/depth_registered_sw_metric_rect-11]: started with pid [32361]
process[camera_base_link-12]: started with pid [32372]
process[camera_base_link1-13]: started with pid [32389]
process[camera_base_link2-14]: started with pid [32410]
process[camera_base_link3-15]: started with pid [32421]
process[rplidarNode-16]: started with pid [32433]
process[bridge-17]: started with pid [32439]
process[wifi_publisher-18]: started with pid [32463]
process[ROSbot2_laser-19]: started with pid [32477]
process[ROSbot2_camera-20]: started with pid [32489]
process[pose_to_tf_transform-21]: started with pid [32503]
[ INFO] [1561140251.784849646]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
process[tf_to_pose-22]: started with pid [32513]
process[depth_clipping_node-23]: started with pid [32522]
process[move_base-24]: started with pid [32538]
process[gmapping_supervisor-25]: started with pid [32544]
process[explore_client-26]: started with pid [32548]
process[explore_server-27]: started with pid [32552]
process[webvideo4-28]: started with pid [32556]
process[rosbridge_websocket-29]: started with pid [32562]
process[rosapi-30]: started with pid [32572]
[ INFO] [1561140252.407767915]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0
[ INFO] [1561140252.845894500]: Please use the ‘Point’ tool in Rviz to select an exporation boundary.
RPLIDAR S/N: 9E8B9AF2C1EA9FC0A2EB92F10D583C02
[ INFO] [1561140252.916694077]: Firmware Ver: 1.25
[ INFO] [1561140252.916792954]: Hardware Rev: 5
[ INFO] [1561140252.918661696]: RPLidar health status : 0
[INFO] [1561140252.959209]: wifi_status publisher node started
[ WARN] [1561140253.036893554]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[INFO] [1561140253.161031]: ROS Serial Python Node
[INFO] [1561140253.264209]: Connecting to /dev/ttyCORE2 at 500000 baud
registered capabilities (classes):

  • rosbridge_library.capabilities.call_service.CallService
  • rosbridge_library.capabilities.advertise.Advertise
  • rosbridge_library.capabilities.publish.Publish
  • rosbridge_library.capabilities.subscribe.Subscribe
  • <class ‘rosbridge_library.capabilities.defragmentation.Defragment’>
  • rosbridge_library.capabilities.advertise_service.AdvertiseService
  • rosbridge_library.capabilities.service_response.ServiceResponse
  • rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
    [ INFO] [1561140253.649768411]: current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1
    [ WARN] [1561140254.037422923]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
    [INFO] [1561140254.096436]: Rosbridge WebSocket server started on port 9090
    started roslaunch server http://husarion:45517/

SUMMARY

PARAMETERS

  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES

ROS_MASTER_URI=http://master:11311
process[gmapping_node-1]: started with pid [512]
Started supervisor
True
[ INFO] [1561140254.785289129]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561140255.037727729]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140256.038050351]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140257.038333331]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ INFO] [1561140257.785630833]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561140258.038597377]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140258.687053087]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100209 timeout was 0.1.
[ WARN] [1561140258.742050469]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.101102 timeout was 0.1.
[ WARN] [1561140259.038866406]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140260.039150334]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ INFO] [1561140260.785957299]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561140261.039422621]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140262.039692889]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140263.039979224]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140263.718061017]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100396 timeout was 0.1.
[ WARN] [1561140263.773926131]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100849 timeout was 0.1.
[ INFO] [1561140263.786292734]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561140264.040243125]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140265.040515508]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140266.040774207]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ INFO] [1561140266.786618179]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561140267.041042556]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140268.041306845]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561140268.752302748]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100184 timeout was 0.1.
[ WARN] [1561140268.807311228]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100522 timeout was 0.1.
[ WARN] [1561140269.041575826]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ INFO] [1561140269.786944427]: No matching device found… waiting for devices. Reason: std::__cxx11::string astra_wrapper::AstraDriver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-astra-camera-0.2.2/src/astra_driver.cpp @ 741 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1561140269.940772577]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.
[ WARN] [1561140270.041867290]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ERROR] [1561140270.388688]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
^C[rosapi-30] killing on exit
[rosbridge_websocket-29] killing on exit
[webvideo4-28] killing on exit
[explore_server-27] killing on exit
[explore_client-26] killing on exit
[gmapping_supervisor-25] killing on exit
[depth_clipping_node-23] killing on exit
[move_base-24] killing on exit
[pose_to_tf_transform-21] killing on exit
[tf_to_pose-22] killing on exit
[gmapping_node-1] killing on exit
[ROSbot2_camera-20] killing on exit
[ROSbot2_laser-19] killing on exit
[wifi_publisher-18] killing on exit
[bridge-17] killing on exit
[INFO] [1561140271.423826]: Send tx stop request
[rplidarNode-16] killing on exit
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree
[camera_base_link3-15] killing on exit
[camera_base_link2-14] killing on exit
[camera_base_link1-13] killing on exit
[camera_base_link-12] killing on exit
[camera/depth_registered_sw_metric_rect-11] killing on exit
[camera/points_xyzrgb_sw_registered-10] killing on exit
[camera/register_depth_rgb-9] killing on exit
[camera/depth_points-8] killing on exit
[camera/depth_metric-7] killing on exit
[camera/depth_metric_rect-6] killing on exit
[camera/depth_rectify_depth-5] killing on exit
[camera/rgb_rectify_color-4] killing on exit
[camera/driver-3] killing on exit
[camera/camera_nodelet_manager-2] killing on exit
Stopped

[camera/camera_nodelet_manager-2] escalating to SIGTERM
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done

20

Because of the above error relating to astra, i followed the instructions from GitHub - orbbec/ros_astra_camera: ROS wrapper for Astra camera to install astra,

git clone GitHub - orbbec/ros_astra_camera: ROS wrapper for Astra camera

sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros

cd ros_astra_camera

./scripts/create_udev_rules

returns with the following:

This script copies a udev rule to /etc to facilitate bringing
up the astra usb connection as /dev/astra*

cp: cannot stat ‘/opt/ros/kinetic/share/astra_camera/56-orbbec-usb.rules’: No such file or directory

Restarting udev

When I check for the file under the folder astra_camer, 56… file does exist.

Help!

Thanks
Vineet