Trouble with Jetson TX1 and roboRIO communication

Eric Blau

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Jan 20, 2017, 8:04:48 PM1/20/17

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Hi ROSforLabview folks,

My team and I are having trouble getting ROS for Labview on a roboRIO communicating with ROS Kinetic on an NVIDIA Jetson TX1.

We have tried running the master on both the roboRIO and on the Jetson with the source distribution on the roboRIO.

When the master is on the roboRIO, the Jetson can publish to the roboRIO but when the roboRIO publishes to the Jetson, the Jetson does not see any topics listed. Running "rostopic list" on the Jetson gives an error. On the roboRIO, the Jetson can be see connecting and asking for status (ROS definition).

When the master is run on the Jetson, the roboRIO recognizes the master on the Jetson's IP address. However, the Jetson cannot recognize any of the publishers or subscribers being hosted by the roboRIO and the roboRIO cannot get any information from the master (ROS definition is not updating).

We've verified network connectivity. Our roboRIO is using IP address 10.100.0.2 and the Jetson is using 10.100.0.35 with subnet mask 255.255.255.0. We have verified with TCP dump that network communication is working. The example project for the roboRIO is being run.

When we sniff traffic, we see the following when the Jetson subscribes to a topic on the roboRIO:

Jetson -> roboRIO

<?xml version='1.0'?>

<methodName>registerSubscriber</methodName>

<param>

<value><string>/listener_8846_1484872373756</string></value>

</param>

<param>

<value><string>/chatter</string></value>

</param>

<param>

<value><string>std_msgs/String</string></value>

</param>

<param>

</param>

</params>

</methodCall>

roboRIO -> Jetson

<?xml version='1.0'?>

<methodResponse>. <params>. <param>. <value>. <array>. <data>. <value><int>1</int>. </value>. <value><string>Registered [/listener_8846_1484872373756] as subscriber of [/chatter]</string>. </value>. <value>. <array>. <data>. <value>. <string>. http://10.100.0.2:50310. </string>. </value>. <value>. <string>. http://10.100.0.35:39032/. </string>. </value>. <value>. <string>. http://10.100.0.35:51449/. </string>. </value>. </data>. </array>. </value>. </data>. </array>. </value>. </param>. </params>.</methodResponse>

but we never see any data transmitted.

Thanks in advance for any guidance you can provide!

Regards,

Eric

Whitney Crooks

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Jan 26, 2017, 12:02:33 PM1/26/17

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Hi Eric,

Sorry for the delay. I just wanted to double check that you downloaded ROS for LabVIEW from Github (vs VIPM). I assume did because you knew to deploy the source distribution.

Are you able to communicate between the roboRIO and roscore on a Linux machine? I'm not very familiar with the Jetson so I want to take a step back to something I know should work and start the debugging there. I'm going to see if I can get my hands on a Jetson or setup something similar in the meantime to try to reproduce your problem.

Thanks!

Whitney

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Whitney Crooks

Ph.D. Candidate in Mechanical Engineering - Tufts University

STEM Leaders Fellow

IGERT Soft Material Robotics Associate
Research Assistant at the Center for Engineering Education and Outreach

Eric Blau

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Jan 26, 2017, 1:25:22 PM1/26/17

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Hi Whitney,

Thank you for the response! We originally installed from VIPM, but we went back and uninstalled the library in VIPM and reinstalled from GitHub because we noticed there was a later update for roboRIO support not in the VIPM version that fixed some file and directory paths that had mixed / and \ characters.

We will try communication between the roboRIO and someone's Linux laptop to see how far we get, but the Jetson TX1's that we're using have Ubuntu 16.04 installed. It could be there is some difference with the ARM architecture on the TX1 so we'll try with someone's laptop to rule that in or out.

We were able to successfully communicate between a Linux VM and LabView running on another laptop. That worked regardless of whether the ROS master was running on Linux or LabView.

Thanks,

Eric

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Whitney Crooks
Ph.D. Candidate in Mechanical Engineering - Tufts University
STEM Leaders Fellow
IGERT Soft Material Robotics Associate
Research Assistant at the Center for Engineering Education and Outreach

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Eric Blau

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Jan 27, 2017, 2:38:03 PM1/27/17

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Hi Whitney,

Here is the Python exception we see in a Linux VM when trying to communicate to the roboRIO:

File "/opt/ros/indigo/bin/rostopic", line 35, in <module>

rostopic.rostopicmain()

File "/opt/ros/indigo/lib/python2.7/dist-packages/rostopic/__init__.py", line 1922, in rostopicmain

_rostopic_cmd_list(argv)

File "/opt/ros/indigo/lib/python2.7/dist-packages/rostopic/__init__.py", line 1862, in _rostopic_cmd_list

exitval = _rostopic_list(topic, verbose=options.verbose, subscribers_only=options.subscribers, publishers_only=options.publishers, group_by_host=options.hostname) or 0

File "/opt/ros/indigo/lib/python2.7/dist-packages/rostopic/__init__.py", line 1080, in _rostopic_list

pubs, subs, _ = state

ValueError: need more than 2 values to unpack

This is what we see when we try "rostopic list" when publishing a topic on the roboRIO with the roboRIO as master. The error path above shows indigo, but we've also tried with kinetic.

At one point we were able to get int64s to work, but we get this error every time with strings.

Thanks,

Eric

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mirgita frasheri

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Mar 14, 2017, 11:36:08 AM3/14/17

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Hello Eric,

Did you manage to solve this issue?

Best,

M

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Ph.D. Candidate in Mechanical Engineering - Tufts University
STEM Leaders Fellow
IGERT Soft Material Robotics Associate
Research Assistant at the Center for Engineering Education and Outreach

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Eric Blau

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Sep 14, 2017, 2:09:35 PM9/14/17

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Hi Mirgita and Whitney,

Sorry for going silent on this issue for so long. It turned out we needed to specify MyIP. Once we did that, communication worked:

Regards,

Eric

Eric Blau

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Sep 14, 2017, 2:11:10 PM9/14/17

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FYI, this was in savereadprefs.vi.

-Eric

Donkiss Zidane

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Jun 3, 2024, 5:35:24 AM6/3/24

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