[ros-users] NXT on ARM (beagleboard) crashing

Tue Sep 14 18:00:47 UTC 2010

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 <tonu at jes.ee> 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 at arm7:~/ros/ros$ rosdep check nxt
> Did not detect packages: ['nvidia-cg-toolkit']
>
> ros at 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 at 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 at 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 at 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
>
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>

-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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