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Hey there @popo2424 , thanks for building your andino 😄 This error: sounds to me that there is a hanging process running in the background. Try again and past the output here and let's see how to solve it |
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Hi @francocipollone, Here is the result then i ran Here is the result Thank you so much for all the help that you provide. |
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Mjm seems to be an issue when initializing the lidar. Do something to narrow down the issue: Launch solely andino basic stuff by doing: You can see the launch arguments at https://github.com/Ekumen-OS/andino/blob/humble/andino_bringup/launch/andino_robot.launch.py If that works you won't have the camera and rplidar. Play with those to narrow down what the issue is. |
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Thank you so much. I think the problem might be on the SBC side. When I tried to build the package using The result is Is this normal? I really appreciate your passion for answering all the newbie questions. |
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Hi everyone, I have exactly the same issue which I tried at least 5 times from the start.
and yes I did followed the steps carefully humble/andino_hardware#single-board-computer-sbc
The error is occurred when I tried to launch the Robot bringup step on my Ubuntu
ros2 launch andino_bringup andino_robot.launch.pyHere is the result.
[INFO] [launch]: All log files can be found below /home/bc/.ros/log/2024-06-07-16-09-46-297357-bcU-24271 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [24272] [robot_state_publisher-1] 2024-06-07 16:09:46.663 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal [robot_state_publisher-1] 2024-06-07 16:09:46.664 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7421: open_and_lock_file failed -> Function open_port_internal [robot_state_publisher-1] 2024-06-07 16:09:46.664 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7423: open_and_lock_file failed -> Function open_port_internal [robot_state_publisher-1] [WARN] [1717733386.677323124] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [robot_state_publisher-1] [INFO] [1717733386.677436135] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1717733386.677530571] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1717733386.677539221] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1717733386.677544843] [robot_state_publisher]: got segment caster_base_link [robot_state_publisher-1] [INFO] [1717733386.677551052] [robot_state_publisher]: got segment caster_rotation_link [robot_state_publisher-1] [INFO] [1717733386.677557008] [robot_state_publisher]: got segment caster_wheel_link [robot_state_publisher-1] [INFO] [1717733386.677562624] [robot_state_publisher]: got segment left_motor [robot_state_publisher-1] [INFO] [1717733386.677568227] [robot_state_publisher]: got segment left_wheel [robot_state_publisher-1] [INFO] [1717733386.677573329] [robot_state_publisher]: got segment right_motor [robot_state_publisher-1] [INFO] [1717733386.677578910] [robot_state_publisher]: got segment right_wheel [robot_state_publisher-1] [INFO] [1717733386.677584564] [robot_state_publisher]: got segment rplidar_laser_link [robot_state_publisher-1] [INFO] [1717733386.677589911] [robot_state_publisher]: got segment second_base_link [INFO] [v4l2_camera_node-2]: process started with pid [24284] [INFO] [rplidar_composition-3]: process started with pid [24286] [rplidar_composition-3] 2024-06-07 16:09:49.755 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal [rplidar_composition-3] 2024-06-07 16:09:49.755 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7421: open_and_lock_file failed -> Function open_port_internal [rplidar_composition-3] 2024-06-07 16:09:49.756 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7423: open_and_lock_file failed -> Function open_port_internal [v4l2_camera_node-2] 2024-06-07 16:09:49.761 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal [v4l2_camera_node-2] 2024-06-07 16:09:49.762 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7421: open_and_lock_file failed -> Function open_port_internal [v4l2_camera_node-2] 2024-06-07 16:09:49.762 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7423: open_and_lock_file failed -> Function open_port_internal [rplidar_composition-3] [INFO] [1717733389.769354707] [rplidar_node]: RPLidar running on ROS2 package rplidar_ros. RPLIDAR SDK Version:2.0.0 [v4l2_camera_node-2] [INFO] [1717733389.785204344] [v4l2_camera]: Driver: uvcvideo [v4l2_camera_node-2] [INFO] [1717733389.785326884] [v4l2_camera]: Version: 394509 [v4l2_camera_node-2] [INFO] [1717733389.785346917] [v4l2_camera]: Device: Integrated Webcam_HD: Integrate [v4l2_camera_node-2] [INFO] [1717733389.785362427] [v4l2_camera]: Location: usb-0000:00:14.0-5 [v4l2_camera_node-2] [INFO] [1717733389.785377180] [v4l2_camera]: Capabilities: [v4l2_camera_node-2] [INFO] [1717733389.785391559] [v4l2_camera]: Read/write: NO [v4l2_camera_node-2] [INFO] [1717733389.785406002] [v4l2_camera]: Streaming: YES [v4l2_camera_node-2] [INFO] [1717733389.785424141] [v4l2_camera]: Current pixel format: YUYV @ 640x480 [v4l2_camera_node-2] [INFO] [1717733389.785510261] [v4l2_camera]: Available pixel formats: [v4l2_camera_node-2] [INFO] [1717733389.785527015] [v4l2_camera]: MJPG - Motion-JPEG [v4l2_camera_node-2] [INFO] [1717733389.785542407] [v4l2_camera]: YUYV - YUYV 4:2:2 [v4l2_camera_node-2] [INFO] [1717733389.785557112] [v4l2_camera]: Available controls: [v4l2_camera_node-2] [INFO] [1717733389.785575375] [v4l2_camera]: Brightness (1) = 0 [v4l2_camera_node-2] [INFO] [1717733389.785593002] [v4l2_camera]: Contrast (1) = 0 [v4l2_camera_node-2] [INFO] [1717733389.785610491] [v4l2_camera]: Saturation (1) = 64 [rplidar_composition-3] *** buffer overflow detected ***: terminated [v4l2_camera_node-2] [INFO] [1717733389.793733983] [v4l2_camera]: Hue (1) = 0 [v4l2_camera_node-2] [INFO] [1717733389.793793103] [v4l2_camera]: White Balance, Automatic (2) = 1 [v4l2_camera_node-2] [INFO] [1717733389.793805971] [v4l2_camera]: Gamma (1) = 100 [v4l2_camera_node-2] [INFO] [1717733389.793815491] [v4l2_camera]: Gain (1) = 1 [v4l2_camera_node-2] [INFO] [1717733389.793824799] [v4l2_camera]: Power Line Frequency (3) = 2 [v4l2_camera_node-2] [INFO] [1717733389.794479873] [v4l2_camera]: White Balance Temperature (1) = 4600 [inactive] [v4l2_camera_node-2] [INFO] [1717733389.794522939] [v4l2_camera]: Sharpness (1) = 2 [v4l2_camera_node-2] [INFO] [1717733389.794542904] [v4l2_camera]: Backlight Compensation (1) = 3 [v4l2_camera_node-2] [ERROR] [1717733389.794567740] [v4l2_camera]: Failed getting value for control 10092545: Permission denied (13); returning 0! [v4l2_camera_node-2] [INFO] [1717733389.794585485] [v4l2_camera]: Camera Controls (6) = 0 [v4l2_camera_node-2] [INFO] [1717733389.794604191] [v4l2_camera]: Auto Exposure (3) = 3 [v4l2_camera_node-2] [INFO] [1717733389.795194990] [v4l2_camera]: Exposure Time, Absolute (1) = 156 [inactive] [v4l2_camera_node-2] [INFO] [1717733389.795235770] [v4l2_camera]: Exposure, Dynamic Framerate (2) = 0 [v4l2_camera_node-2] [WARN] [1717733389.796492125] [v4l2_camera]: Control type not currently supported: 6, for control: Camera Controls [v4l2_camera_node-2] [INFO] [1717733389.797616556] [v4l2_camera]: Starting camera [v4l2_camera_node-2] [ERROR] [1717733389.797665545] [v4l2_camera]: Failed mapping device memory [ERROR] [rplidar_composition-3]: process has died [pid 24286, exit code -6, cmd '/opt/ros/humble/lib/rplidar_ros/rplidar_composition --ros-args -r __node:=rplidar_node --params-file /tmp/launch_params_poqpwl4q']. [INFO] [ros2_control_node-4]: process started with pid [24326] [INFO] [spawner-5]: process started with pid [24328] [ros2_control_node-4] 2024-06-07 16:09:52.830 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal [ros2_control_node-4] 2024-06-07 16:09:52.831 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7419: open_and_lock_file failed -> Function open_port_internal [ros2_control_node-4] 2024-06-07 16:09:52.831 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7421: open_and_lock_file failed -> Function open_port_internal [ros2_control_node-4] 2024-06-07 16:09:52.831 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7423: open_and_lock_file failed -> Function open_port_internal [ros2_control_node-4] 2024-06-07 16:09:52.832 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7427: open_and_lock_file failed -> Function open_port_internal [ros2_control_node-4] [WARN] [1717733392.850519226] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ros2_control_node-4] terminate called after throwing an instance of 'std::runtime_error' [ros2_control_node-4] what(): invalid URDF passed in to robot parser [ros2_control_node-4] Stack trace (most recent call last): [ros2_control_node-4] #15 Object "", at 0xffffffffffffffff, in [ros2_control_node-4] #14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x59a5dee10d84, in [ros2_control_node-4] #13 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x76cd5a229e3f] [ros2_control_node-4] #12 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x76cd5a229d8f] [ros2_control_node-4] #11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x59a5dee1089e, in [ros2_control_node-4] #10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x76cd5aba3e79, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) [ros2_control_node-4] #9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x76cd5ab9f6bf, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) [ros2_control_node-4] #8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x76cd5a5c0c76, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) [ros2_control_node-4] #7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x76cd5a59adf5, in [ros2_control_node-4] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x76cd5a6ae4d7, in __cxa_throw [ros2_control_node-4] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x76cd5a6ae276, in std::terminate() [ros2_control_node-4] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x76cd5a6ae20b, in [ros2_control_node-4] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x76cd5a6a2b9d, in [ros2_control_node-4] #2 Source "./stdlib/abort.c", line 79, in abort [0x76cd5a2287f2] [ros2_control_node-4] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x76cd5a242475] [ros2_control_node-4] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal [ros2_control_node-4] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation [ros2_control_node-4] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x76cd5a2969fc] [ros2_control_node-4] Aborted (Signal sent by tkill() 24326 1000) [ERROR] [ros2_control_node-4]: process has died [pid 24326, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_pnslkqlz --params-file /home/bc/project/andino/ws/install/andino_control/share/andino_control/config/andino_controllers.yaml -r /diff_controller/cmd_vel:=/cmd_vel -r /diff_controller/cmd_vel_unstamped:=/cmd_vel -r /diff_controller/cmd_vel_out:=/cmd_vel_out -r /diff_controller/odom:=/odom']. [spawner-5] [INFO] [1717733395.164554108] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-5] [INFO] [1717733397.189077913] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-5] [INFO] [1717733399.213857900] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-5] [INFO] [1717733401.238209609] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-5] [ERROR] [1717733403.263067197] [spawner_joint_state_broadcaster]: Controller manager not available [ERROR] [spawner-5]: process has died [pid 24328, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args']. [INFO] [spawner-6]: process started with pid [24356] [spawner-6] [INFO] [1717733405.815846822] [spawner_diff_controller]: Waiting for '/controller_manager' node to exist [spawner-6] [INFO] [1717733407.839372025] [spawner_diff_controller]: Waiting for '/controller_manager' node to exist [spawner-6] [INFO] [1717733409.863795676] [spawner_diff_controller]: Waiting for '/controller_manager' node to exist [spawner-6] [INFO] [1717733411.891110442] [spawner_diff_controller]: Waiting for '/controller_manager' node to exist [spawner-6] [ERROR] [1717733413.917059722] [spawner_diff_controller]: Controller manager not available [ERROR] [spawner-6]: process has died [pid 24356, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diff_controller --controller-manager /controller_manager --ros-args'].I have tried at least 5 times from the begining.. it is all the same result when get to this step. I was using WSL and tried twice. then I thought i might be the issue so I now using Ubuntu system then still the same. Can someone pelase help from here? Thank you all.
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