[ros-users] Problems connecting P2os to stageros - cturtle

[Matt Bergsma]

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:
<launch>
	<!-- run p2os to control the pioneer -->
	<node pkg="p2os_driver" type="p2os" name="p2os">
		<param name="port" value="/dev/ttyS0"/>
	</node>
</launch>

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