Tonu, The node which is crashing is the tf/static_transform_publisher. I'd suggest you try running that manually in gdb and try to get a backtrace. Tully On Tue, Sep 14, 2010 at 10:31 AM, Tõnu Samuel wrote: > 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 > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Tully Foote Systems Engineer Willow Garage, Inc. tfoote@willowgarage.com (650) 475-2827