[ros-users] Problems connecting P2os to stageros - cturtle
Matt Bergsma
mjb4 at sfu.ca
Tue Oct 26 22:46:04 UTC 2010
No I'm running it on my laptop. I was under the impression that I would
be able to use stageros to simulate the robot, so I can test some code I
need to run with p2os without using the robot. Similar to using
MobileSim and the aria libraries (minus ROS in this case)
On Tue, 2010-10-26 at 18:42 -0400, Eric Perko wrote:
> 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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