Matt,<div><br></div><div>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.</div>
<div><br></div><div>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).</div>
<meta http-equiv="content-type" content="text/html; charset=utf-8"><div><br></div><div>- Eric<br><br><div class="gmail_quote">On Tue, Oct 26, 2010 at 6:21 PM, Matt Bergsma <span dir="ltr"><<a href="mailto:mjb4@sfu.ca">mjb4@sfu.ca</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">In pretty much a clean install of cturtle, with p2os and stageros<br>
installed. I cannot get p2os to interface with the stageros demo map.<br>
I'm launching stageros using : ./bin/stageros world/willow-erratic.world<br>
<br>
than launching ros with the following launch file:<br>
<launch><br>
<!-- run p2os to control the pioneer --><br>
<node pkg="p2os_driver" type="p2os" name="p2os"><br>
<param name="port" value="/dev/ttyS0"/><br>
</node><br>
</launch><br>
<br>
And I get the following error not matter which of the serial ports I try<br>
to use (s0 -> s3)<br>
<br>
[ERROR] [1288131478.538383392, 166.200000000]:<br>
P2OS::Setup():tcgetattr():<br>
[ERROR] [1288131478.538540534, 166.200000000]: p2os setup failed...<br>
[p2os-1] process has died [pid 1975, exit code 255].<br>
<br>
the log file is pasted below.<br>
<br>
I'm sure I'm missing something simple here, but any help would be<br>
appreciated.<br>
<br>
Thanks,<br>
Matt Bergsma<br>
<br>
the log file contains:<br>
[roscpp_internal] [2010-10-26 15:17:58,468] [thread 0xb67c4710]: [DEBUG]<br>
UDPROS server listening on port [34766]<br>
[roscpp_internal] [2010-10-26 15:17:58,479] [thread 0xb67c4710]: [DEBUG]<br>
Publisher update for [/clock]: <a href="http://randomfool-laptop:32775/" target="_blank">http://randomfool-laptop:32775/</a>, already<br>
have these connections:<br>
[roscpp_internal] [2010-10-26 15:17:58,480] [thread 0xb67c4710]: [DEBUG]<br>
Began asynchronous xmlrpc connection to [randomfool-laptop:32775]<br>
[roscpp_internal] [2010-10-26 15:17:58,480] [thread 0xb67c4710]: [DEBUG]<br>
Started node [/p2os], pid [1975], bound on [randomfool-laptop], xmlrpc<br>
port [35727], tcpros port [59856], logging to<br>
[/home/randomfool/.ros/log/929d2de4-e14b-11df-a13e-00130253b4e7/p2os-1.log], using [sim] time<br>
[roscpp_internal] [2010-10-26 15:17:58,485] [thread 0xb67c4710]: [DEBUG]<br>
XML-RPC call [getParam] returned an error (-1): [Parameter<br>
[/p2os/diagnostic_period] is not set]<br>
[roscpp_internal] [2010-10-26 15:17:58,490] [thread 0xb67c4710]: [DEBUG]<br>
XML-RPC call [searchParam] returned an error (-1): [Cannot find<br>
parameter [tf_prefix] in an upwards search]<br>
[roscpp_internal] [2010-10-26 15:17:58,500] [thread 0xb5fc2b70]: [DEBUG]<br>
Connecting via tcpros to topic [/clock] at host<br>
[randomfool-laptop:53440]<br>
[roscpp_internal] [2010-10-26 15:17:58,500] [thread 0xb5fc2b70]: [DEBUG]<br>
Resolved publisher host [randomfool-laptop] to [127.0.0.1] for socket<br>
[11]<br>
[roscpp_internal] [2010-10-26 15:17:58,501] [thread 0xb5fc2b70]: [DEBUG]<br>
Async connect() in progress to [randomfool-laptop:53440] on socket [11]<br>
[roscpp_internal] [2010-10-26 15:17:58,501] [thread 0xb5fc2b70]: [DEBUG]<br>
Connected to publisher of topic [/clock] at [randomfool-laptop:53440]<br>
[ros.p2os_driver] [2010-10-26 15:17:58,505] [thread 0xb67c4710]: [INFO]<br>
using serial port: [/dev/ttyS0]<br>
[roscpp_internal] [2010-10-26 15:17:58,533] [thread 0xb67c4710]: [DEBUG]<br>
Publisher update for [/cmd_vel]: already have these connections:<br>
[roscpp_internal] [2010-10-26 15:17:58,534] [thread 0xb67c4710]: [DEBUG]<br>
Publisher update for [/cmd_motor_state]: already have these<br>
connections:<br>
[roscpp_internal] [2010-10-26 15:17:58,536] [thread 0xb67c4710]: [DEBUG]<br>
Publisher update for [/gripper_control]: already have these<br>
connections:<br>
[roscpp_internal] [2010-10-26 15:17:58,537] [thread 0xb67c4710]: [DEBUG]<br>
Publisher update for [/ptz_control]: already have these connections:<br>
[ros.p2os_driver] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [INFO]<br>
P2OS connection opening serial port /dev/ttyS0...<br>
[ros.p2os_driver] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [ERROR]<br>
P2OS::Setup():tcgetattr():<br>
[ros.p2os_driver] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [ERROR]<br>
p2os setup failed...<br>
[roscpp_internal] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [DEBUG]<br>
shutting down due to exit() or end of main() without cleanup of all<br>
NodeHandles<br>
[roscpp_internal] [2010-10-26 15:17:58,538] [thread 0xb67c4710]: [DEBUG]<br>
Shutting down roscpp<br>
[roscpp_internal] [2010-10-26 15:17:58,538] [thread 0xb67c3b70]: [DEBUG]<br>
Accepted connection on socket [7], new socket [12]<br>
[roscpp_internal] [2010-10-26 15:17:58,539] [thread 0xb67c3b70]: [DEBUG]<br>
TCPROS received a connection from [<a href="http://127.0.0.1:36450" target="_blank">127.0.0.1:36450</a>]<br>
[roscpp_internal] [2010-10-26 15:17:58,539] [thread 0xb67c3b70]: [DEBUG]<br>
Connection: Creating TransportSubscriberLink for topic [/rosout]<br>
connected to [callerid=[/rosout] address=[TCPROS connection to<br>
[<a href="http://127.0.0.1:36450" target="_blank">127.0.0.1:36450</a> on socket 12]]]<br>
[roscpp_internal] [2010-10-26 15:17:58,579] [thread 0xb67c4710]: [DEBUG]<br>
Shutting down topics...<br>
[roscpp_internal] [2010-10-26 15:17:58,579] [thread 0xb67c4710]: [DEBUG]<br>
shutting down publishers<br>
[roscpp_internal] [2010-10-26 15:17:58,582] [thread 0xb67c4710]: [DEBUG]<br>
Connection to subscriber [callerid=[/rosout] address=[TCPROS connection<br>
to [<a href="http://127.0.0.1:36450" target="_blank">127.0.0.1:36450</a> on socket 12]]] to topic [/rosout] dropped<br>
[roscpp_internal] [2010-10-26 15:17:58,582] [thread 0xb67c4710]: [DEBUG]<br>
TCP socket [12] closed<br>
[roscpp_internal] [2010-10-26 15:17:58,608] [thread 0xb67c4710]: [DEBUG]<br>
shutting down subscribers<br>
[roscpp_internal] [2010-10-26 15:17:58,611] [thread 0xb67c4710]: [DEBUG]<br>
TCP socket [11] closed<br>
[roscpp_internal] [2010-10-26 15:17:58,624] [thread 0xb67c4710]: [DEBUG]<br>
ServiceManager::shutdown(): unregistering our advertised services<br>
[roscpp_internal] [2010-10-26 15:17:58,641] [thread 0xb67c4710]: [DEBUG]<br>
UDP socket [8] closed<br>
[roscpp_internal] [2010-10-26 15:17:58,642] [thread 0xb67c4710]: [DEBUG]<br>
TCP socket [7] closed<br>
[roscpp_internal] [2010-10-26 15:17:58,651] [thread 0xb67c4710]: [DEBUG]<br>
Shutdown finished<br>
<br>
<br>
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</blockquote></div><br></div>