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POST No. 2590544
터틀봇3 버거 Bringup 시 에러 출력
2019-07-04 13:28:47 aer623

안녕하세요. 터틀봇3를 사용하기 위해 컴퓨터와 터틀봇의 라즈베리파이에 ros를 설치하였습니다. 설치는 e-manual을 참고하여 하였습니다. 아래와 같이  리모트 pc에서 roscore을 실행하고 터틀봇에서는 roslaunch turtlebot3_bringup turtlebot3_robot.launch 를 실행하니 에러 메세지가 나왔습니다. 해결책에 대해 답변해주시면 감사하겠습니다.

 

pi@raspberrypi:~ $ roslaunch turtlebot3_bringup turtlebot3_robot.launch 
... logging to /home/pi/.ros/log/fecd8138-9d78-11e9-b401-001d0931cac0/roslaunch-raspberrypi-30791.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.4:45547/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.2:11311

process[turtlebot3_core-1]: started with pid [30801]
process[turtlebot3_lds-2]: started with pid [30802]
process[turtlebot3_diagnostics-3]: started with pid [30803]
[ERROR] [1562148796.932256850]: An exception was thrown: open: No such file or directory
[turtlebot3_lds-2] process has died [pid 30802, exit code 255, cmd /home/pi/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/pi/.ros/log/fecd8138-9d78-11e9-b401-001d0931cac0/turtlebot3_lds-2.log].
log file: /home/pi/.ros/log/fecd8138-9d78-11e9-b401-001d0931cac0/turtlebot3_lds-2*.log
[INFO] [1562148798.063609]: ROS Serial Python Node
[INFO] [1562148798.133239]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1562148803.406126]: Setup TF on Odometry [odom]
[INFO] [1562148803.409933]: Setup TF on IMU [imu_link]
[INFO] [1562148803.413601]: Setup TF on MagneticField [mag_link]
[INFO] [1562148803.420617]: Setup TF on JointState [base_link]
[ERROR] [1562148803.424469]: Tried to publish before configured, topic id 127
[INFO] [1562148805.967591]: Calibration End
[ERROR] [1562148805.974103]: Tried to publish before configured, topic id 128
[ERROR] [1562148805.981745]: Tried to publish before configured, topic id 127
[ERROR] [1562148805.986226]: Tried to publish before configured, topic id 127
[ERROR] [1562148805.992002]: Tried to publish before configured, topic id 127
[ERROR] [1562148805.999783]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.014913]: Message from device dropped: message larger than buffer.
[ERROR] [1562148806.019211]: Tried to publish before configured, topic id 133
[ERROR] [1562148806.023726]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.031409]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.035867]: Tried to publish before configured, topic id 128
[ERROR] [1562148806.040682]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.049489]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.057730]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.066813]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.071257]: Tried to publish before configured, topic id 131
[ERROR] [1562148806.093160]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.128614]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.155699]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.164312]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.169717]: Tried to publish before configured, topic id 128
[ERROR] [1562148806.180390]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.190773]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.202136]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.209465]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.223415]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.235319]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.251580]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.265475]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.271384]: Tried to publish before configured, topic id 125
[ERROR] [1562148806.278104]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.288132]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.292437]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.297347]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.304646]: Tried to publish before configured, topic id 128
[ERROR] [1562148806.317334]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.368194]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.372784]: Tried to publish before configured, topic id 125
[ERROR] [1562148806.379239]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.388505]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.392782]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.402256]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.406922]: Tried to publish before configured, topic id 125
[ERROR] [1562148806.413635]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.422366]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.431406]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.489188]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.498281]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.534548]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.539357]: Tried to publish before configured, topic id 128
[ERROR] [1562148806.563687]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.568635]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.573263]: Tried to publish before configured, topic id 128
[ERROR] [1562148806.587282]: Tried to publish before configured, topic id 133
[ERROR] [1562148806.591540]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.599569]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.616598]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.621679]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.627373]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.632876]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.637869]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.646664]: Tried to publish before configured, topic id 128
[ERROR] [1562148806.665128]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.682491]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.699482]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.727861]: Tried to publish before configured, topic id 127
[ERROR] [1562148806.775799]: Tried to publish before configured, topic id 132
[ERROR] [1562148806.785270]: Tried to publish before configured, topic id 128
[ERROR] [1562148806.789869]: Tried to publish before configured, topic id 127
 

2019-07-04 13:28:47
aer623
2019-07-04 14:18:47 유기웅

안녕하세요.

 

에러메시지를 보니 turtlebot3_lds에 문제가 발생한 것으로 보입니다.
다음과 같이 테스트 해주세요.

1. 라즈베리파이의 USB포트 확인 및 $ ls /dev/ttyUSB0 명령으로 lds 인식 여부 확인해주세요.

2. LDS e매뉴얼 페이지를 참고하여 테스트해주세요.

3. 로보티즈에서 제공한 라즈비안을 사용하고 있지 않다면 아래에 있는 라즈비안을 사용해주세요.

감사합니다.
2019-07-04 14:18:47
ykw4463
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