Unsure if I hit some bug or just doing thing wrong. Anyway, I cleaned up already few times, started from scratch, recompiled everything etc but always get same error. I am able to run NXT ROS stack on pc without major troubles. When I try same on ARM platform, I get problems. I do use Ubuntu 10.04 on both platforms. To prevent low memory crashes on ARM I added 1G swap on memory disk, so this cannot be issue. Installation commands: ---8<------------- sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial sudo easy_install -U rosinstall rosinstall ~/ros http://ros.org/rosinstalls/cturtle_base.rosinstall echo "source ~/ros/setup.sh" >> ~/.bashrc . ~/.bashrc rosinstall ~/ros "http://www.ros.org/wiki/nxt/Installation?action=AttachFile&do=get&target=nxt-0.1.0.rosinstall" source ~/ros/setup.sh ---8<------------- Up to this point PC and ARM stuff is identical. Now on ARM Ubuntu there is no package "nvidia-cg-toolkit", so I just omit it: ---8<------------- ros@arm7:~/ros/ros$ rosdep check nxt Did not detect packages: ['nvidia-cg-toolkit'] ros@arm7:~/ros/ros$ ---8<------------- Also this renders "rosmake nxt" command to not finish but trap into errors. So I do: ---8<------------- rosmake nxt_apps nxt_robots ---8<------------- And they compile fine. I assume all dependencies but rviz stuff is in place, so I try to run it: ---8<------------- ros@arm7:~$ roslaunch nxt_robot_sensor_car robot.launch ... logging to /home/ros/.ros/log/757e0c3e-c025-11df-8249-00c0ca1a0a72/roslaunch-arm7.jes.ee-32708.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://arm7.jes.ee:35922/ SUMMARY ======== PARAMETERS * /robot_description * /robot_state_publisher/publish_frequency * /nxt_ros/nxt_robot * /base_parameters/l_wheel_joint * /base_parameters/vel_to_eff * /base_parameters/wheel_basis * /base_parameters/wheel_radius * /base_parameters/r_wheel_joint NODES / js_agg (nxt_ros/joint_states_aggregator.py) robot_state_publisher (robot_state_publisher/state_publisher) nxt_ros (nxt_ros/nxt_ros.py) base_controller (nxt_controllers/base_controller.py) base_odometry (nxt_controllers/base_odometry.py) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) base_footprint_fixed_publisher (tf/static_transform_publisher) starting new master (master configured for auto start) process[master]: started with pid [32721] ROS_MASTER_URI=http://arm7.jes.ee:11311/ setting /run_id to 757e0c3e-c025-11df-8249-00c0ca1a0a72 process[rosout-1]: started with pid [32734] started core service [/rosout] process[js_agg-2]: started with pid [32746] process[robot_state_publisher-3]: started with pid [32747] process[nxt_ros-4]: started with pid [32748] process[base_controller-5]: started with pid [32749] process[base_odometry-6]: started with pid [32750] process[robot_pose_ekf-7]: started with pid [32751] process[base_footprint_fixed_publisher-8]: started with pid [32753] [base_footprint_fixed_publisher-8] process has died [pid 32753, exit code -4]. log files: /home/ros/.ros/log/757e0c3e-c025-11df-8249-00c0ca1a0a72/base_footprint_fixed_publisher-8*.log ---8<------------- More output will follow but keeping it short: NXT stuff does not work. Related log output: ros@arm7:~/ros/ros$ cat /home/ros/.ros/log/757e0c3e-c025-11df-8249-00c0ca1a0a72/base_footprint_fixed_publisher-8*.log [roscpp_internal] [2010-09-14 20:28:22,432] [thread 0x41d92790]: [DEBUG] UDPROS server listening on port [39833] [roscpp_internal] [2010-09-14 20:28:22,433] [thread 0x41d92790]: [DEBUG] enableRead() on UDPROS socket [8] [roscpp_internal] [2010-09-14 20:28:22,642] [thread 0x425a4420]: [DEBUG] Accepted connection on socket [7], new socket [11] [roscpp_internal] [2010-09-14 20:28:22,643] [thread 0x425a4420]: [DEBUG] TCPROS received a connection from [127.0.1.1:58341] [roscpp_internal] [2010-09-14 20:28:22,693] [thread 0x425a4420]: [DEBUG] Connection: Creating TransportSubscriberLink for topic [/rosout] connected to [callerid=[/rosout] address=[TCPROS connection to [127.0.1.1:58341 on socket 11]]] [roscpp_internal] [2010-09-14 20:28:22,944] [thread 0x41d92790]: [DEBUG] Started node [/base_footprint_fixed_publisher], pid [32753], bound on [arm7.jes.ee], xmlrpc port [44508], tcpros port [48584], logging to [/home/ros/.ros/log/757e0c3e-c025-11df-8249-00c0ca1a0a72/base_footprint_fixed_publisher-8.log], using [real] time [roscpp_internal] [2010-09-14 20:28:23,126] [thread 0x425a4420]: [DEBUG] Accepted connection on socket [7], new socket [12] [roscpp_internal] [2010-09-14 20:28:23,127] [thread 0x425a4420]: [DEBUG] TCPROS received a connection from [127.0.1.1:58352] [roscpp_internal] [2010-09-14 20:28:23,204] [thread 0x425a4420]: [DEBUG] Connection: Creating TransportSubscriberLink for topic [/tf] connected to [callerid=[/robot_pose_ekf] address=[TCPROS connection to [127.0.1.1:58352 on socket 12]]] [roscpp_internal] [2010-09-14 20:28:23,213] [thread 0x41d92790]: [DEBUG] XML-RPC call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] in an upwards search] ros@arm7:~/ros/ros$ ---8<------------- I am not completely stuck yet. I still have lot of ROS code to read to analyze situation. But because this is 100% reproducable on Beagleboard and not on PC, I post it here and ask if someone sees, what I do wrong? Tõnu