In pretty much a clean install of cturtle, with p2os and stageros installed. I cannot get p2os to interface with the stageros demo map. I'm launching stageros using : ./bin/stageros world/willow-erratic.world than launching ros with the following launch file: And I get the following error not matter which of the serial ports I try to use (s0 -> s3) [ERROR] [1288131478.538383392, 166.200000000]: P2OS::Setup():tcgetattr(): [ERROR] [1288131478.538540534, 166.200000000]: p2os setup failed... [p2os-1] process has died [pid 1975, exit code 255]. the log file is pasted below. I'm sure I'm missing something simple here, but any help would be appreciated. Thanks, Matt Bergsma the log file contains: [roscpp_internal] [2010-10-26 15:17:58,468] [thread 0xb67c4710]: [DEBUG] UDPROS server listening on port [34766] [roscpp_internal] [2010-10-26 15:17:58,479] [thread 0xb67c4710]: [DEBUG] Publisher update for [/clock]: http://randomfool-laptop:32775/, already have these connections: [roscpp_internal] [2010-10-26 15:17:58,480] [thread 0xb67c4710]: [DEBUG] Began asynchronous xmlrpc connection to [randomfool-laptop:32775] [roscpp_internal] [2010-10-26 15:17:58,480] [thread 0xb67c4710]: [DEBUG] Started node [/p2os], pid [1975], bound on [randomfool-laptop], xmlrpc port [35727], tcpros port [59856], logging to [/home/randomfool/.ros/log/929d2de4-e14b-11df-a13e-00130253b4e7/p2os-1.log], using [sim] time [roscpp_internal] [2010-10-26 15:17:58,485] [thread 0xb67c4710]: [DEBUG] XML-RPC call [getParam] returned an error (-1): [Parameter [/p2os/diagnostic_period] is not set] [roscpp_internal] [2010-10-26 15:17:58,490] [thread 0xb67c4710]: [DEBUG] XML-RPC call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] in an upwards search] [roscpp_internal] [2010-10-26 15:17:58,500] [thread 0xb5fc2b70]: [DEBUG] Connecting via tcpros to topic [/clock] at host [randomfool-laptop:53440] [roscpp_internal] [2010-10-26 15:17:58,500] [thread 0xb5fc2b70]: [DEBUG] Resolved publisher host [randomfool-laptop] to [127.0.0.1] for socket [11] [roscpp_internal] [2010-10-26 15:17:58,501] [thread 0xb5fc2b70]: [DEBUG] Async connect() in progress to [randomfool-laptop:53440] on socket [11] [roscpp_internal] [2010-10-26 15:17:58,501] [thread 0xb5fc2b70]: [DEBUG] Connected to publisher of topic [/clock] at [randomfool-laptop:53440] [ros.p2os_driver] [2010-10-26 15:17:58,505] [thread 0xb67c4710]: [INFO] using serial port: [/dev/ttyS0] [roscpp_internal] [2010-10-26 15:17:58,533] [thread 0xb67c4710]: [DEBUG] Publisher update for [/cmd_vel]: already have these connections: [roscpp_internal] [2010-10-26 15:17:58,534] [thread 0xb67c4710]: [DEBUG] Publisher update for [/cmd_motor_state]: already have these connections: [roscpp_internal] [2010-10-26 15:17:58,536] [thread 0xb67c4710]: [DEBUG] Publisher update for [/gripper_control]: already have these connections: [roscpp_internal] [2010-10-26 15:17:58,537] [thread 0xb67c4710]: [DEBUG] Publisher update for [/ptz_control]: already have these connections: [ros.p2os_driver] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [INFO] P2OS connection opening serial port /dev/ttyS0... [ros.p2os_driver] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [ERROR] P2OS::Setup():tcgetattr(): [ros.p2os_driver] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [ERROR] p2os setup failed... [roscpp_internal] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [DEBUG] shutting down due to exit() or end of main() without cleanup of all NodeHandles [roscpp_internal] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [DEBUG] Shutting down roscpp [roscpp_internal] [2010-10-26 15:17:58,538] [thread 0xb67c3b70]: [DEBUG] Accepted connection on socket [7], new socket [12] [roscpp_internal] [2010-10-26 15:17:58,539] [thread 0xb67c3b70]: [DEBUG] TCPROS received a connection from [127.0.0.1:36450] [roscpp_internal] [2010-10-26 15:17:58,539] [thread 0xb67c3b70]: [DEBUG] Connection: Creating TransportSubscriberLink for topic [/rosout] connected to [callerid=[/rosout] address=[TCPROS connection to [127.0.0.1:36450 on socket 12]]] [roscpp_internal] [2010-10-26 15:17:58,579] [thread 0xb67c4710]: [DEBUG] Shutting down topics... [roscpp_internal] [2010-10-26 15:17:58,579] [thread 0xb67c4710]: [DEBUG] shutting down publishers [roscpp_internal] [2010-10-26 15:17:58,582] [thread 0xb67c4710]: [DEBUG] Connection to subscriber [callerid=[/rosout] address=[TCPROS connection to [127.0.0.1:36450 on socket 12]]] to topic [/rosout] dropped [roscpp_internal] [2010-10-26 15:17:58,582] [thread 0xb67c4710]: [DEBUG] TCP socket [12] closed [roscpp_internal] [2010-10-26 15:17:58,608] [thread 0xb67c4710]: [DEBUG] shutting down subscribers [roscpp_internal] [2010-10-26 15:17:58,611] [thread 0xb67c4710]: [DEBUG] TCP socket [11] closed [roscpp_internal] [2010-10-26 15:17:58,624] [thread 0xb67c4710]: [DEBUG] ServiceManager::shutdown(): unregistering our advertised services [roscpp_internal] [2010-10-26 15:17:58,641] [thread 0xb67c4710]: [DEBUG] UDP socket [8] closed [roscpp_internal] [2010-10-26 15:17:58,642] [thread 0xb67c4710]: [DEBUG] TCP socket [7] closed [roscpp_internal] [2010-10-26 15:17:58,651] [thread 0xb67c4710]: [DEBUG] Shutdown finished