errors when running roslaunch on robot

[Lee McLaren]

Hi,

I am using the minimal branch while I wait for my IMU to turn up.

I am able to move the robot using the keys but I have this error running, I hit Ctrl C after a short while as the errors repeat.

Can anyone offer a suggestion?

I am using a raspberry pi 3 for the robot.

thank you

~/catkin_ws $ roslaunch linorobot bringup.launch

... logging to /home/lmclaren/.ros/log/d5b67304-d8c7-11e6-a9a7-b827eb19950a/roslaunch-pibot-3996.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://pibot.local:37508/

SUMMARY

========

PARAMETERS

 * /arduino_serial_node/baud: 57600

 * /arduino_serial_node/port: /dev/serial/by-id...

 * /imu_filter_madgwick/fixed_frame: odom

 * /imu_filter_madgwick/use_mag: True

 * /imu_filter_madgwick/use_magnetic_field_msg: False

 * /raw_imu_bridge/imu/accelerometer_bias/x: -0.422578

 * /raw_imu_bridge/imu/accelerometer_bias/y: 0.053516

 * /raw_imu_bridge/imu/accelerometer_bias/z: -0.310391

 * /raw_imu_bridge/imu/gyroscope_bias/x: -0.013545

 * /raw_imu_bridge/imu/gyroscope_bias/y: 0.056887

 * /raw_imu_bridge/imu/gyroscope_bias/z: 0.012693

 * /raw_imu_bridge/imu/perform_calibration: False

 * /rosdistro: indigo

 * /rosversion: 1.11.20

NODES

  /

    arduino_serial_node (rosserial_python/serial_node.py)

    imu_filter_madgwick (imu_filter_madgwick/imu_filter_node)

    lino_base_node (linorobot/lino_base_node)

    raw_imu_bridge (ros_arduino_imu/raw_imu_bridge_node)

auto-starting new master

process[master]: started with pid [4008]

ROS_MASTER_URI=http://pibot.local:11311

setting /run_id to d5b67304-d8c7-11e6-a9a7-b827eb19950a

process[rosout-1]: started with pid [4021]

started core service [/rosout]

process[arduino_serial_node-2]: started with pid [4029]

process[raw_imu_bridge-3]: started with pid [4039]

process[imu_filter_madgwick-4]: started with pid [4040]

process[lino_base_node-5]: started with pid [4057]

[ INFO] [1484226349.312743797]: Starting ImuFilter

[ INFO] [1484226349.370409292]: IMU calibration found.

[ WARN] [1484226349.378579690]: Deprecation Warning: The parameter world_frame was not set, default is 'nwu'.

[ WARN] [1484226349.378732035]: Starting with ROS Lunar, world_frame will default to 'enu'!

[ INFO] [1484226349.378824692]: Using dt computed from message headers

[ INFO] [1484226349.503082339]: Starting Raw Imu Bridge.

[ INFO] [1484226349.514663657]: Imu filter gain set to 0.100000

[ INFO] [1484226349.514812617]: Gyro drift bias set to 0.000000

[ INFO] [1484226349.514898087]: Magnetometer bias values: 0.000000 0.000000 0.000000

[INFO] [WallTime: 1484226349.864017] ROS Serial Python Node

[INFO] [WallTime: 1484226349.882961] Connecting to /dev/serial/by-id/usb-Teensyduino_USB_Serial_2186010-if00 at 57600 baud

[ERROR] [WallTime: 1484226352.871654] Cannot import package : lino_msgs

[ERROR] [WallTime: 1484226352.873263] sys.path was ['/opt/ros/indigo/lib/rosserial_python', '/usr/lib/python2.7/dist-packages', '/opt/ros/indigo/lib/python2.7/dist-packages', '/usr/lib/python2.7', '/usr/lib/python2.7/plat-arm-linux-gnueabihf', '/usr/lib/python2.7/lib-tk', '/usr/lib/python2.7/lib-old', '/usr/lib/python2.7/lib-dynload', '/usr/local/lib/python2.7/dist-packages', '/usr/lib/python2.7/dist-packages/gtk-2.0', '/usr/lib/pymodules/python2.7']

[ERROR] [WallTime: 1484226352.874960] Creation of publisher failed: 'NoneType' object has no attribute 'msg'

[ERROR] [WallTime: 1484226352.884586] Cannot import package : ros_arduino_msgs

[ERROR] [WallTime: 1484226352.886109] sys.path was ['/opt/ros/indigo/lib/rosserial_python', '/usr/lib/python2.7/dist-packages', '/opt/ros/indigo/lib/python2.7/dist-packages', '/usr/lib/python2.7', '/usr/lib/python2.7/plat-arm-linux-gnueabihf', '/usr/lib/python2.7/lib-tk', '/usr/lib/python2.7/lib-old', '/usr/lib/python2.7/lib-dynload', '/usr/local/lib/python2.7/dist-packages', '/usr/lib/python2.7/dist-packages/gtk-2.0', '/usr/lib/pymodules/python2.7']

[ERROR] [WallTime: 1484226352.887605] Creation of publisher failed: 'NoneType' object has no attribute 'msg'

[ERROR] [WallTime: 1484226352.899661] Cannot import package : lino_pid

[ERROR] [WallTime: 1484226352.901184] sys.path was ['/opt/ros/indigo/lib/rosserial_python', '/usr/lib/python2.7/dist-packages', '/opt/ros/indigo/lib/python2.7/dist-packages', '/usr/lib/python2.7', '/usr/lib/python2.7/plat-arm-linux-gnueabihf', '/usr/lib/python2.7/lib-tk', '/usr/lib/python2.7/lib-old', '/usr/lib/python2.7/lib-dynload', '/usr/local/lib/python2.7/dist-packages', '/usr/lib/python2.7/dist-packages/gtk-2.0', '/usr/lib/pymodules/python2.7']

[ERROR] [WallTime: 1484226352.902612] Creation of subscriber failed: 'NoneType' object has no attribute 'msg'

[INFO] [WallTime: 1484226352.941898] Note: subscribe buffer size is 1024 bytes

[INFO] [WallTime: 1484226352.943430] Setup subscriber on cmd_vel [geometry_msgs/Twist]

[ERROR] [WallTime: 1484226352.946237] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226352.949330] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226352.952199] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226352.955037] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226352.957900] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226352.960750] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226352.963568] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226352.966433] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226352.969408] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226352.986825] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226353.087296] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226353.187739] Tried to publish before configured, topic id 105

[ERROR] [WallTime: 1484226353.288264] Tried to publish before configured, topic id 105

^C[ERROR] [WallTime: 1484226353.387739] Tried to publish before configured, topic id 105

[lino_base_node-5] killing on exit

[imu_filter_madgwick-4] killing on exit

[raw_imu_bridge-3] killing on exit

[arduino_serial_node-2] killing on exit

[INFO] [WallTime: 1484226353.408288] Send tx stop request

terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'

  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument

[rosout-1] killing on exit

[master] killing on exit

shutting down processing monitor...

... shutting down processing monitor complete

done

[Juan Miguel Jimeno]

I updated the bringup launch file on minimal branch. I fororgot to omit IMU related packages on bringup. Thanks for spotting that, my bad.

raw_vel topic was also converted into lino_msgs to be more lightweight. 

You need to clone https://github.com/grassjelly/lino_msgs and feat branch of lino_pid https://github.com/grassjelly/lino_pid/tree/feat . Once done do a catkin_make on your workspace. 

My apologies for the mess. I'm currently refactoring the codes to cater for the upcoming Teensy shield and more motor driver compatibility,

Hope these help. Let us know how it go. :)

[Lee McLaren]

Thank you Juan,

The worked correctly now. 

on my system, from the catkin_ws directory I had to run the commands: 

git clone  https://github.com/grassjelly/lino_msgs

and

git clone -b feat  https://github.com/grassjelly/lino_pid

and then the catkin_make

[Juan Miguel Jimeno]

Great! Will polish this minimal branch once the main code is pushed. Happy Weekend Hacking! :)