[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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