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POST No. 2591659
turtlebot3 bringup 구동시 에러발생
2021-09-03 20:14:12 tosanctuary

lcisturtle2@lcisturtle2-desktop:~$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

... logging to /home/lcisturtle2/.ros/log/a3c71522-0ca4-11ec-97f3-000f0050d428/roslaunch-lcisturtle2-desktop-7344.log

Checking log directory for disk usage. This may take a while.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

 

started roslaunch server http://lcisturtle2-desktop:36559/

 

SUMMARY

========

 

PARAMETERS

 * /rosdistro: melodic

 * /rosversion: 1.14.11

 * /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)

 

auto-starting new master

process[master]: started with pid [7355]

ROS_MASTER_URI=http://localhost:11311

 

setting /run_id to a3c71522-0ca4-11ec-97f3-000f0050d428

process[rosout-1]: started with pid [7368]

started core service [/rosout]

process[turtlebot3_core-2]: started with pid [7371]

process[turtlebot3_lds-3]: started with pid [7383]

process[turtlebot3_diagnostics-4]: started with pid [7387]

[ERROR] [1630666183.282986153]: An exception was thrown: open: No such file or directory

[turtlebot3_lds-3] process has died [pid 7383, exit code 255, cmd /opt/ros/melodic/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/lcisturtle2/.ros/log/a3c71522-0ca4-11ec-97f3-000f0050d428/turtlebot3_lds-3.log].

log file: /home/lcisturtle2/.ros/log/a3c71522-0ca4-11ec-97f3-000f0050d428/turtlebot3_lds-3*.log

[INFO] [1630666184.088743]: ROS Serial Python Node

[INFO] [1630666184.104957]: Connecting to /dev/ttyACM0 at 115200 baud

[INFO] [1630666186.215539]: Requesting topics...

[INFO] [1630666186.241305]: Note: publish buffer size is 1024 bytes

[INFO] [1630666186.245449]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]

[INFO] [1630666186.255585]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]

[INFO] [1630666186.467622]: Setup publisher on imu [sensor_msgs/Imu]

[INFO] [1630666186.479273]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]

[INFO] [1630666186.565613]: Setup publisher on odom [nav_msgs/Odometry]

[INFO] [1630666186.577588]: Setup publisher on joint_states [sensor_msgs/JointState]

[INFO] [1630666186.586952]: Setup publisher on battery_state [sensor_msgs/BatteryState]

[INFO] [1630666186.595912]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]

[INFO] [1630666187.747907]: Setup publisher on /tf [tf/tfMessage]

[INFO] [1630666187.759809]: Note: subscribe buffer size is 1024 bytes

[INFO] [1630666187.764020]: Setup subscriber on cmd_vel [geometry_msgs/Twist]

[INFO] [1630666187.775702]: Setup subscriber on sound [turtlebot3_msgs/Sound]

[INFO] [1630666187.787154]: Setup subscriber on motor_power [std_msgs/Bool]

[INFO] [1630666187.799545]: Setup subscriber on reset [std_msgs/Empty]

[INFO] [1630666189.311866]: Setup TF on Odometry [odom]

[INFO] [1630666189.318431]: Setup TF on IMU [imu_link]

[INFO] [1630666189.324591]: Setup TF on MagneticField [mag_link]

[INFO] [1630666189.331140]: Setup TF on JointState [base_link]

[INFO] [1630666189.341414]: --------------------------

[INFO] [1630666189.347965]: Connected to OpenCR board!

[INFO] [1630666189.354369]: This core(v1.2.2) is compatible with TB3 Burger

[INFO] [1630666189.360882]: --------------------------

[INFO] [1630666189.367279]: Start Calibration of Gyro

[INFO] [1630666191.875473]: Calibration End

^C[turtlebot3_diagnostics-4] killing on exit

[turtlebot3_core-2] killing on exit

[INFO] [1630666322.814474]: Send tx stop request

[rosout-1] killing on exit

[master] killing on exit

shutting down processing monitor...

... shutting down processing monitor complete

 

이렇게 에러가 발생합니다.

lds 문제인 것 같아서 메뉴얼대로 따라해봤지만

lcisturtle2@lcisturtle2-desktop:~$ sudo apt-get install ros-melodic-hls-lfcd-lds-driver 를 하여 패키지 설치후

 

lcisturtle2@lcisturtle2-desktop:~$ sudo chmod a+rw /dev/ttyUSB0

chmod: cannot access '/dev/ttyUSB0': No such file or directory

 

이런식으로 에러가 발생합니다.

현재 JetsonNano를 사용하여 진행하고 있는데, 라즈베리파이와 USB포트의 이름이 달라서 그런건가요??

 

2021-09-03 20:14:12
tosanctuary
2021-09-06 10:09:41 유기웅

안녕하세요.

 

lds의 포트를 확인 해주세요.

ls /dev/tty* 명령어로 포트 이름과 번호를 확인 하실 수 있습니다. 

 

감사합니다.

2021-09-06 10:09:41
ykw4463
2021-09-06 14:54:01 신기훈

Jetson Nano에 lidar가 연결된 상태로 답변해주신대로 해보았습니다.

 

kihoon@kihoon-15ZD980-GX50K:~$ ls /dev/tty*

/dev/tty    /dev/tty16  /dev/tty24  /dev/tty32  /dev/tty40  /dev/tty49  /dev/tty57  /dev/tty8    /dev/ttyS15  /dev/ttyS23  /dev/ttyS31

/dev/tty0   /dev/tty17  /dev/tty25  /dev/tty33  /dev/tty41  /dev/tty5   /dev/tty58  /dev/tty9    /dev/ttyS16  /dev/ttyS24  /dev/ttyS4

/dev/tty1   /dev/tty18  /dev/tty26  /dev/tty34  /dev/tty42  /dev/tty50  /dev/tty59  /dev/ttyS0   /dev/ttyS17  /dev/ttyS25  /dev/ttyS5

/dev/tty10  /dev/tty19  /dev/tty27  /dev/tty35  /dev/tty43  /dev/tty51  /dev/tty6   /dev/ttyS1   /dev/ttyS18  /dev/ttyS26  /dev/ttyS6

/dev/tty11  /dev/tty2   /dev/tty28  /dev/tty36  /dev/tty44  /dev/tty52  /dev/tty60  /dev/ttyS10  /dev/ttyS19  /dev/ttyS27  /dev/ttyS7

/dev/tty12  /dev/tty20  /dev/tty29  /dev/tty37  /dev/tty45  /dev/tty53  /dev/tty61  /dev/ttyS11  /dev/ttyS2   /dev/ttyS28  /dev/ttyS8

/dev/tty13  /dev/tty21  /dev/tty3   /dev/tty38  /dev/tty46  /dev/tty54  /dev/tty62  /dev/ttyS12  /dev/ttyS20  /dev/ttyS29  /dev/ttyS9

/dev/tty14  /dev/tty22  /dev/tty30  /dev/tty39  /dev/tty47  /dev/tty55  /dev/tty63  /dev/ttyS13  /dev/ttyS21  /dev/ttyS3   /dev/ttyprintk

/dev/tty15  /dev/tty23  /dev/tty31  /dev/tty4   /dev/tty48  /dev/tty56  /dev/tty7   /dev/ttyS14  /dev/ttyS22  /dev/ttyS30


여기서 어떤 것이 lidar와 연결된 것인지 어떻게 알 수 있을까요?
comment
2021-09-06 15:28:42 ykw4463
케이블을 분리한 후, 포트 리스트를 확인하고 그 다음 케이블을 연결한 후 다시 포트 리스트를 확인해서 추가되는 포트를 찾으시면 됩니다.
2021-09-06 15:28:42
ykw4463
2021-09-06 19:21:29 tosanctuary
말씀하신대로 케이블을 분리한 후, 연결한 후 ls/dev/tty* 명령어를 해봤습니다.
하지만 몇 번을 해봐도 list가 똑같이 나옵니다.
혹시 왜 이러는지 아시나요??
2021-09-06 19:21:29
tosanctuary
2021-09-06 20:42:12 tosanctuary
참고로 Lidar USB Cable이 JetsonNano에 연결되어 있고, 전원을 키면 정상적으로 Lidar가 회전합니다. 이것은 Lidar가 JetsonNan와 정상적으로 연결이 된 것이죠??
2021-09-06 20:42:12
tosanctuary
2021-09-07 13:33:12 tosanctuary
케이블 문제네요.. 해결 됐습니다.
2021-09-07 13:33:12
tosanctuary
2021-09-06 14:54:01
tosanctuary
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