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

Tue Oct 26 22:42:13 UTC 2010

Matt,

Stageros is meant to be run instead of a robot base when testing
higher-level things such as navigation. I'd think if you are using stageros,
you shouldn't need to run p2os at the same time.

Are you actually connected to a Pioneer base via serial while trying to
launch p2os with stageros? If not, then it is entirely reasonable for the
driver to fail (but a better error message might be nice).

- Eric

On Tue, Oct 26, 2010 at 6:21 PM, Matt Bergsma <mjb4 at sfu.ca> wrote:

> 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
>
>
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