Tonu, <div>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. </div><div><br></div><div>Tully</div><div><br><div class="gmail_quote">
On Tue, Sep 14, 2010 at 10:31 AM, Tõnu Samuel <span dir="ltr"><<a href="mailto:tonu@jes.ee">tonu@jes.ee</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Unsure if I hit some bug or just doing thing wrong. Anyway, I cleaned up<br>
already few times, started from scratch, recompiled everything etc but<br>
always get same error.<br>
<br>
I am able to run NXT ROS stack on pc without major troubles. When I try<br>
same on ARM platform, I get problems. I do use Ubuntu 10.04 on both<br>
platforms. To prevent low memory crashes on ARM I added 1G swap on<br>
memory disk, so this cannot be issue.<br>
<br>
Installation commands:<br>
---8<-------------<br>
sudo apt-get install build-essential python-yaml cmake subversion wget<br>
python-setuptools mercurial<br>
sudo easy_install -U rosinstall<br>
rosinstall ~/ros <a href="http://ros.org/rosinstalls/cturtle_base.rosinstall" target="_blank">http://ros.org/rosinstalls/cturtle_base.rosinstall</a><br>
echo "source ~/ros/setup.sh" >> ~/.bashrc<br>
. ~/.bashrc<br>
rosinstall ~/ros<br>
"<a href="http://www.ros.org/wiki/nxt/Installation?action=AttachFile&do=get&target=nxt-0.1.0.rosinstall" target="_blank">http://www.ros.org/wiki/nxt/Installation?action=AttachFile&do=get&target=nxt-0.1.0.rosinstall</a>"<br>
source ~/ros/setup.sh<br>
---8<-------------<br>
<br>
Up to this point PC and ARM stuff is identical.<br>
<br>
Now on ARM Ubuntu there is no package "nvidia-cg-toolkit", so I just<br>
omit it:<br>
---8<-------------<br>
ros@arm7:~/ros/ros$ rosdep check nxt<br>
Did not detect packages: ['nvidia-cg-toolkit']<br>
<br>
ros@arm7:~/ros/ros$<br>
---8<-------------<br>
Also this renders "rosmake nxt" command to not finish but trap into<br>
errors. So I do:<br>
---8<-------------<br>
rosmake nxt_apps nxt_robots<br>
---8<-------------<br>
And they compile fine.<br>
<br>
I assume all dependencies but rviz stuff is in place, so I try to run<br>
it:<br>
---8<-------------<br>
ros@arm7:~$ roslaunch nxt_robot_sensor_car robot.launch<br>
... logging<br>
to /home/ros/.ros/log/757e0c3e-c025-11df-8249-00c0ca1a0a72/roslaunch-arm7.jes.ee-32708.log<br>
Checking log directory for disk usage. This may take awhile.<br>
Press Ctrl-C to interrupt<br>
Done checking log file disk usage. Usage is <1GB.<br>
<br>
started roslaunch server <a href="http://arm7.jes.ee:35922/" target="_blank">http://arm7.jes.ee:35922/</a><br>
<br>
SUMMARY<br>
========<br>
<br>
PARAMETERS<br>
* /robot_description<br>
* /robot_state_publisher/publish_frequency<br>
* /nxt_ros/nxt_robot<br>
* /base_parameters/l_wheel_joint<br>
* /base_parameters/vel_to_eff<br>
* /base_parameters/wheel_basis<br>
* /base_parameters/wheel_radius<br>
* /base_parameters/r_wheel_joint<br>
<br>
NODES<br>
/<br>
js_agg (nxt_ros/joint_states_aggregator.py)<br>
robot_state_publisher (robot_state_publisher/state_publisher)<br>
nxt_ros (nxt_ros/nxt_ros.py)<br>
base_controller (nxt_controllers/base_controller.py)<br>
base_odometry (nxt_controllers/base_odometry.py)<br>
robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)<br>
base_footprint_fixed_publisher (tf/static_transform_publisher)<br>
<br>
starting new master (master configured for auto start)<br>
process[master]: started with pid [32721]<br>
ROS_MASTER_URI=<a href="http://arm7.jes.ee:11311/" target="_blank">http://arm7.jes.ee:11311/</a><br>
<br>
setting /run_id to 757e0c3e-c025-11df-8249-00c0ca1a0a72<br>
process[rosout-1]: started with pid [32734]<br>
started core service [/rosout]<br>
process[js_agg-2]: started with pid [32746]<br>
process[robot_state_publisher-3]: started with pid [32747]<br>
process[nxt_ros-4]: started with pid [32748]<br>
process[base_controller-5]: started with pid [32749]<br>
process[base_odometry-6]: started with pid [32750]<br>
process[robot_pose_ekf-7]: started with pid [32751]<br>
process[base_footprint_fixed_publisher-8]: started with pid [32753]<br>
[base_footprint_fixed_publisher-8] process has died [pid 32753, exit<br>
code -4].<br>
log<br>
files: /home/ros/.ros/log/757e0c3e-c025-11df-8249-00c0ca1a0a72/base_footprint_fixed_publisher-8*.log<br>
<br>
---8<-------------<br>
More output will follow but keeping it short: NXT stuff does not work.<br>
Related log output:<br>
<br>
ros@arm7:~/ros/ros$<br>
cat /home/ros/.ros/log/757e0c3e-c025-11df-8249-00c0ca1a0a72/base_footprint_fixed_publisher-8*.log<br>
[roscpp_internal] [2010-09-14 20:28:22,432] [thread 0x41d92790]: [DEBUG]<br>
UDPROS server listening on port [39833]<br>
[roscpp_internal] [2010-09-14 20:28:22,433] [thread 0x41d92790]: [DEBUG]<br>
enableRead() on UDPROS socket [8]<br>
[roscpp_internal] [2010-09-14 20:28:22,642] [thread 0x425a4420]: [DEBUG]<br>
Accepted connection on socket [7], new socket [11]<br>
[roscpp_internal] [2010-09-14 20:28:22,643] [thread 0x425a4420]: [DEBUG]<br>
TCPROS received a connection from [<a href="http://127.0.1.1:58341" target="_blank">127.0.1.1:58341</a>]<br>
[roscpp_internal] [2010-09-14 20:28:22,693] [thread 0x425a4420]: [DEBUG]<br>
Connection: Creating TransportSubscriberLink for topic [/rosout]<br>
connected to [callerid=[/rosout] address=[TCPROS connection to<br>
[<a href="http://127.0.1.1:58341" target="_blank">127.0.1.1:58341</a> on socket 11]]]<br>
[roscpp_internal] [2010-09-14 20:28:22,944] [thread 0x41d92790]: [DEBUG]<br>
Started node [/base_footprint_fixed_publisher], pid [32753], bound on<br>
[<a href="http://arm7.jes.ee" target="_blank">arm7.jes.ee</a>], xmlrpc port [44508], tcpros port [48584], logging to<br>
[/home/ros/.ros/log/757e0c3e-c025-11df-8249-00c0ca1a0a72/base_footprint_fixed_publisher-8.log], using [real] time<br>
[roscpp_internal] [2010-09-14 20:28:23,126] [thread 0x425a4420]: [DEBUG]<br>
Accepted connection on socket [7], new socket [12]<br>
[roscpp_internal] [2010-09-14 20:28:23,127] [thread 0x425a4420]: [DEBUG]<br>
TCPROS received a connection from [<a href="http://127.0.1.1:58352" target="_blank">127.0.1.1:58352</a>]<br>
[roscpp_internal] [2010-09-14 20:28:23,204] [thread 0x425a4420]: [DEBUG]<br>
Connection: Creating TransportSubscriberLink for topic [/tf] connected<br>
to [callerid=[/robot_pose_ekf] address=[TCPROS connection to<br>
[<a href="http://127.0.1.1:58352" target="_blank">127.0.1.1:58352</a> on socket 12]]]<br>
[roscpp_internal] [2010-09-14 20:28:23,213] [thread 0x41d92790]: [DEBUG]<br>
XML-RPC call [searchParam] returned an error (-1): [Cannot find<br>
parameter [tf_prefix] in an upwards search]<br>
ros@arm7:~/ros/ros$<br>
---8<-------------<br>
<br>
I am not completely stuck yet. I still have lot of ROS code to read to<br>
analyze situation. But because this is 100% reproducable on Beagleboard<br>
and not on PC, I post it here and ask if someone sees, what I do wrong?<br>
<br>
Tõnu<br>
<br>
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</blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>
</div>