[ros-users] Problems connecting P2os to stageros - cturtle
Eric Perko
wisesage5001 at gmail.com
Tue Oct 26 23:05:01 UTC 2010
Matt,
You can use Stageros to simulate the robot. Because stageros simulates the
robot, you should not need to run a driver node such as p2os.
There are some example launch files for running the navigation stack with
stage here: http://www.ros.org/wiki/navigation_stage . Note that you will
likely have to remap topics or change tf frames to match stageros's output
with p2os's output when testing with your own code that is meant to run with
p2os.
<http://www.ros.org/wiki/navigation_stage>If you depend directly on some
functionality of p2os that is not simulated by stageros right now, then you
may not be able to use stageros by itself.
- Eric
On Tue, Oct 26, 2010 at 6:46 PM, Matt Bergsma <mjb4 at sfu.ca> wrote:
> 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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> >
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