Failed to start turtlebot3_ros.vxe on TurtleBot3 burger #6
Comments
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@sdoerr20, thanks for reporting it. You probably need to copy burger.yaml to the USB stick as well. I don't have TB3 at hands at the moment, so please keep me posted on your progress :) |
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As first use case I tried to start the turtlebot3_ros programm with the suggested paramters. This leads to the completion of the TurtleBot3 setup routine which is indicated by the Message Trace including setup routine as a reference: |
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As second use case I also tried to test the LiDAR sensor driver independently from the TurtleBot3 bringup routine. Here again the initialization seems to work which is than followed by an internal ROS2 library error. Between these two states the test driver runs for approximately 2-3 min where I suspected to see some measurements, but did not see a related log output. Therefore I started debugging on our Ubuntu reference setup, but can not find any LiDAR related hardware issues. Trace with LiDAR initialization in the following: 0xffff800000afed80 (iHlds_laser_publisher): RTP 0xffff800000565810 has been deleted due to signal 6. [vxWorks *]# |
This happens most probably that still not all libraries are copied to the filesystem. Let me look, it could be a defect in the copy script somewhere |
@sdoerr20, are you using your own VxWorks compiled kernel or one from the SDK? |
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@razr Yes, I use the pre-build VxWorks Image. Regarding my own Image I haven't finished that task, yet. From my perspctive it's better to get the TurtleBot3 with the pre-build image and than with the costume image in order to exclude further dependency issues.
Can I set these options before the compilation of the VxWorks Image or can I export this variables (bash) analogously to the README command: > set env NUM_FILES=2000 < |
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@sdoerr20, yes, I agree it makes sense to fix your problem with the RPI3 SDK image and then move on. so, I have asked my colleague to test it as well and he was able to run it. Next, downloaded release 1.4 of RPi3 from labs.windriver.com and updated SD card and started the turtlebot3 app ... |
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After debugging and rebuilding my TurtleBot3 infrastructure with the most recent RPI3 SDK (wrsdk-vxworks7-raspberrypi3b-1.4.tar.bz2) I was able to start the TurtleBot3 setup as the following trace shows. Furthermore I managed to initialize the hlds sensor publisher as well. |
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@sdoerr20 this is really good to hear. Thank you very much for chasing this problem until the end. |
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@razr To give an overall answer I would say it is simply the complete technology stack required to run a TurtleBot3. Sometimes you deal longer with certain issues than expected or something little is missing. Respectively, the whole USB-Drive installation caused several problems where in the end one of my devices became unusable. At the moment I try to note down for me which steps are elementary. You can have a look at my |
Following the installation guide from the README I installed the ROS2 library on my TurtleBot3 burger robot based on an Raspberry Pi 3B plus. As the trace attached below shows, I used an external USB-Stick with a fat32 filesystem storing the ROS2 library and started the program timer_lambda.vxe which works fine.
Executing the program turtlebot3_ros.vxe in contrast fails, because the serial for the OpenCR Board is expected to be at
/dev/ttyACM0, but the serial device for the OpenCR board is abstracted as/usb2ttyS/0.Is there an option to explicitly set the serial for the program turtlebot3_ros.vxe?
Trace recorded on the RPI3b plus with the VxWorks Image of the WindRiver RPI SDK:
-> cmd
[vxWorks *]# devs
drv refs name
1 [ 3] /
2 [ 3] /bd0:1 ==> /bd0a
5 [ 3] /bd0a
2 [ 3] /bin ==> /sd0a/sysroot/bin
2 [ 3] /boot ==> /sd0a/sysroot/boot
2 [ 3] /dev ==> /
2 [ 3] /etc ==> /sd0a/sysroot/etc
10 [ 3] /fifos
13 [ 3] /input/event
2 [ 3] /lib ==> /sd0a/sysroot/lib
0 [ 3] /null
12 [ 3] /random
8 [ 3] /stdio_pty_0xffff8000004e2fc0.M
7 [ 3] /stdio_pty_0xffff8000004e2fc0.S
6 [ 3] /tmp
3 [ 3] /ttyS0
2 [ 3] /tyCo/0 ==> /ttyS0
12 [ 3] /urandom
16 [ 3] /usb2ttyS/0
16 [ 3] /usb2ttyS/1
2 [ 3] /usr ==> /sd0a/sysroot/usr
11 [ 3] /zero
15 [ 3] host:
[vxWorks *]# set env LD_LIBRARY_PATH="/bd0a/lib"
[vxWorks *]# cd /bd0a/llvm/bin/
[vxWorks *]# rtp exec -u 0x20000 timer_lambda.vxe
Launching process 'timer_lambda.vxe' ...
Process 'timer_lambda.vxe' (process Id = 0xffff800000309010) launched.
[INFO] [minimal_timer]: Hello, world!
[INFO] [minimal_timer]: Hello, world!
[INFO] [minimal_timer]: Hello, world!
[INFO] [minimal_timer]: Hello, world!
[vxWorks *]# rtp exec -u 0x020000 turtlebot3_ros.vxe
Launching process 'turtlebot3_ros.vxe' ...
Process 'turtlebot3_ros.vxe' (process Id = 0xffff800000336b00) launched.
[INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[PortHandlerVxworks::SetupPort] Error opening serial port!
[ERROR] [DynamixelSDKWrapper]: Failed to open the port(/dev/ttyACM0)!
[ERROR] [DynamixelSDKWrapper]: Failed to initialize SDK handlers
Cannot ioctl flush on /dev/ttyACM0
[ERROR] [turtlebot3_node]: Failed connection with Devices
[INFO] [turtlebot3_node]: Add Motors
[INFO] [turtlebot3_node]: Add Wheels
[INFO] [turtlebot3_node]: Add Sensors
terminating with uncaught exception of type rclcpp::exceptions::ParameterNotDeclaredException: sensors.bumper_1
0xffff800000b30ad0 (iTurtlebot3_ros): RTP 0xffff800000336b00 has been deleted due to signal 6.
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