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Diffbot run 3
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321 lines (293 loc) · 17 KB
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rod@raspi:~$ roslaunch diffbot_bringup bringup_with_laser.launch
... logging to /home/rod/.ros/log/88f38ef2-7ed2-11eb-8a43-a95d1eb44680/roslaunch-raspi-1487.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.
WARN: unrecognized 'param' tag in <include> tag
started roslaunch server http://raspi:37229/
SUMMARY
========
PARAMETERS
* /diffbot/hardware_interface/joints: ['front_left_whee...
* /diffbot/joint_state_controller/extra_joints: [{'name': 'rear_c...
* /diffbot/joint_state_controller/publish_rate: 50
* /diffbot/joint_state_controller/type: joint_state_contr...
* /diffbot/mobile_base_controller/angular/z/has_acceleration_limits: True
* /diffbot/mobile_base_controller/angular/z/has_velocity_limits: True
* /diffbot/mobile_base_controller/angular/z/max_acceleration: 6.0
* /diffbot/mobile_base_controller/angular/z/max_velocity: 2.0
* /diffbot/mobile_base_controller/base_frame_id: base_footprint
* /diffbot/mobile_base_controller/left_wheel: front_left_wheel_...
* /diffbot/mobile_base_controller/linear/x/has_acceleration_limits: True
* /diffbot/mobile_base_controller/linear/x/has_velocity_limits: True
* /diffbot/mobile_base_controller/linear/x/max_acceleration: 0.6
* /diffbot/mobile_base_controller/linear/x/max_velocity: 0.2
* /diffbot/mobile_base_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /diffbot/mobile_base_controller/publish_rate: 50
* /diffbot/mobile_base_controller/right_wheel: front_right_wheel...
* /diffbot/mobile_base_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /diffbot/mobile_base_controller/type: diff_drive_contro...
* /diffbot/mobile_base_controller/wheel_radius: 0.0325
* /diffbot/mobile_base_controller/wheel_separation: 0.15
* /diffbot/robot_description: <?xml version="1....
* /diffbot/ydlidar_lidar_publisher/abnormal_check_count: 4
* /diffbot/ydlidar_lidar_publisher/angle_max: 180.0
* /diffbot/ydlidar_lidar_publisher/angle_min: -180.0
* /diffbot/ydlidar_lidar_publisher/auto_reconnect: True
* /diffbot/ydlidar_lidar_publisher/baudrate: 230400
* /diffbot/ydlidar_lidar_publisher/device_type: 0
* /diffbot/ydlidar_lidar_publisher/frame_id: laser_frame
* /diffbot/ydlidar_lidar_publisher/frequency: 10.0
* /diffbot/ydlidar_lidar_publisher/ignore_array:
* /diffbot/ydlidar_lidar_publisher/intensity: False
* /diffbot/ydlidar_lidar_publisher/invalid_range_is_inf: False
* /diffbot/ydlidar_lidar_publisher/inverted: True
* /diffbot/ydlidar_lidar_publisher/isSingleChannel: False
* /diffbot/ydlidar_lidar_publisher/lidar_type: 1
* /diffbot/ydlidar_lidar_publisher/port: /dev/ydlidar
* /diffbot/ydlidar_lidar_publisher/range_max: 16.0
* /diffbot/ydlidar_lidar_publisher/range_min: 0.1
* /diffbot/ydlidar_lidar_publisher/resolution_fixed: True
* /diffbot/ydlidar_lidar_publisher/reversion: True
* /diffbot/ydlidar_lidar_publisher/sample_rate: 9
* /diffbot/ydlidar_lidar_publisher/support_motor_dtr: False
* /rosdistro: noetic
* /rosversion: 1.15.9
NODES
/diffbot/
base_link_to_laser4 (tf/static_transform_publisher)
controller_spawner (controller_manager/spawner)
diffbot_base (diffbot_base/diffbot_base)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rosserial_teensy (rosserial_python/serial_node.py)
ydlidar_lidar_publisher (ydlidar_ros_driver/ydlidar_ros_driver_node)
ROS_MASTER_URI=http://192.168.1.179:11311/
process[diffbot/diffbot_base-1]: started with pid [1503]
process[diffbot/controller_spawner-2]: started with pid [1504]
process[diffbot/rosserial_teensy-3]: started with pid [1505]
process[diffbot/robot_state_publisher-4]: started with pid [1506]
process[diffbot/ydlidar_lidar_publisher-5]: started with pid [1507]
process[diffbot/base_link_to_laser4-6]: started with pid [1508]
[ INFO] [1615072891.005322112]: YDLIDAR ROS Driver Version: 1.0.0
YDLidar SDK initializing
YDLidar SDK has been initialized
[YDLIDAR]:SDK Version: 1.0.3
[CYdLidar] Error, cannot bind to the specified serial port[/dev/ydlidar] and baudrate[230400]
[CYdLidar::initialize] Error initializing YDLIDAR check Comms.
[ERROR] [1615072891.139162910]: Unknown error
[ INFO] [1615072891.205406719]: Waiting for model URDF on the ROS param server at location: /diffbot/diffbot/robot_description
[ INFO] [1615072891.348461643]: Initializing DiffBot Hardware Interface ...
[ INFO] [1615072891.348702325]: Number of joints: 2
[ INFO] [1615072891.348900939]: pid namespace: pid/left_motor
[ INFO] [1615072891.349141195]: Initialize PID
[ INFO] [1615072891.349361427]: Initializing dynamic reconfigure in namespace /diffbot/pid/left_motor
[ INFO] [1615072891.397036807]: Update PID Gains: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-6.15385, out_max=6.15385
[ INFO] [1615072891.411792832]: Initialized dynamic reconfigure
[ INFO] [1615072891.412036515]: Initialized PID: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-6.15385, out_max=6.15385
[ INFO] [1615072891.412256562]: Update PID output limits: lower=6.15385, upper=-6.15385
[ INFO] [1615072891.412500393]: pid namespace: pid/right_motor
[ INFO] [1615072891.412692005]: Initialize PID
[ INFO] [1615072891.412892249]: Initializing dynamic reconfigure in namespace /diffbot/pid/right_motor
[ INFO] [1615072891.457799404]: Update PID Gains: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-6.15385, out_max=6.15385
[ INFO] [1615072891.478572595]: Initialized dynamic reconfigure
[ INFO] [1615072891.478888781]: Initialized PID: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-6.15385, out_max=6.15385
[ INFO] [1615072891.479236532]: Update PID output limits: lower=6.15385, upper=-6.15385
[ INFO] [1615072891.479948094]: ... Done Initializing DiffBot Hardware Interface
[ INFO] [1615072891.647100989]: [YDLIDAR INFO] Now YDLIDAR is stopping .......
[ INFO] [1615072891.677527254]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+07-1.95961e+07-2.74071e+12
j1: 65535 759.721 759.721 1.06255e+08
[ INFO] [1615072891.677798798]:
Write velocity p_error i_error d_error pid out percent
j0: 0 2.74071e+121.95961e+073.83317e+173.83413e+156.23045e+16
j1: 0 -1.06255e+08-759.721 -1.48608e+13-1.48645e+11-2.41548e+12
[ INFO] [1615072891.777654294]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072891.777911963]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[INFO] [1615072891.865412]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1615072891.876713]: Controller Spawner: Waiting for service controller_manager/switch_controller
[ INFO] [1615072891.877606672]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072891.878031297]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[INFO] [1615072891.886981]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1615072891.895850]: Loading controller: joint_state_controller
[INFO] [1615072891.900520]: ROS Serial Python Node
[INFO] [1615072891.921517]: Connecting to /dev/ttyACM0 at 115200 baud
[ INFO] [1615072891.977647260]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072891.978078369]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[INFO] [1615072891.979928]: Loading controller: mobile_base_controller
[ INFO] [1615072892.017996539]: Controller state will be published at 50Hz.
[ INFO] [1615072892.021308993]: Wheel separation will be multiplied by 1.
[ INFO] [1615072892.026327364]: Left wheel radius will be multiplied by 1.
[ INFO] [1615072892.026518917]: Right wheel radius will be multiplied by 1.
[ INFO] [1615072892.028343367]: Velocity rolling window size of 10.
[ INFO] [1615072892.030187656]: Velocity commands will be considered old if they are older than 0.5s.
[ INFO] [1615072892.032019478]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1615072892.035536341]: Base frame_id set to base_footprint
[ INFO] [1615072892.038648721]: Odometry frame_id set to odom
[ INFO] [1615072892.042100751]: Publishing to tf is enabled
[ INFO] [1615072892.077563220]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072892.077949438]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615072892.082584222]: Odometry params : wheel separation 0.15, left wheel radius 0.0325, right wheel radius 0.0325
[ INFO] [1615072892.090188124]: Adding left wheel with joint name: front_left_wheel_joint and right wheel with joint name: front_right_wheel_joint
[ERROR] [1615072892.110513086]: Exception thrown while initializing controller 'mobile_base_controller'.
std::bad_alloc
[ERROR] [1615072892.110718680]: Initializing controller 'mobile_base_controller' failed
[ INFO] [1615072892.177643733]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072892.178010519]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[diffbot/ydlidar_lidar_publisher-5] process has finished cleanly
log file: /home/rod/.ros/log/88f38ef2-7ed2-11eb-8a43-a95d1eb44680/diffbot-ydlidar_lidar_publisher-5*.log
[ INFO] [1615072892.277669785]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072892.278040055]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615072892.377651715]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072892.378007684]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615072892.477648945]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072892.478011768]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615072892.577651417]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072892.578022964]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ERROR] [1615072893.119978]: Failed to load mobile_base_controller
[INFO] [1615072893.127558]: Controller Spawner: Loaded controllers: joint_state_controller
[ INFO] [1615072893.177650282]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072893.178047367]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[INFO] [1615072893.179358]: Started controllers: joint_state_controller
[ INFO] [1615072893.277658229]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072893.278181365]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615072893.377660489]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072893.378042088]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615072893.477646616]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072893.478019564]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615072893.577616201]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072893.578011581]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[INFO] [1615072894.038955]: Requesting topics...
[INFO] [1615072894.069013]: Note: publish buffer size is 512 bytes
[INFO] [1615072894.073729]: Setup publisher on encoder_ticks [diffbot_msgs/Encoder]
[ INFO] [1615072894.077604303]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072894.078512321]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[INFO] [1615072894.088560]: Note: subscribe buffer size is 512 bytes
[INFO] [1615072894.094431]: Setup subscriber on motor_left [std_msgs/Int32]
[INFO] [1615072894.112360]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1615072894.126665]: Setup subscriber on motor_right [std_msgs/Int32]
[ INFO] [1615072894.177580213]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072894.177936281]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615072894.277616396]:
Read ticks angle dangle velocity
j0: -1690398720-1.95961e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615072894.278013326]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615072894.377577672]:
Read ticks angle dangle velocity
j0: 0 0 1.95961e+071.95976e+08
j1: 0 0 -759.721 -7597.78
[ INFO] [1615072894.377946576]:
Write velocity p_error i_error d_error pid out percent
j0: 0 -1.95976e+08-1.95961e+07-1.9599e+09-8.81906e+07-1.4331e+09
j1: 0 7597.78 759.721 75983.5 3422.56 55616.5
[diffbot/robot_state_publisher-4] killing on exit
[diffbot/rosserial_teensy-3] killing on exit
[diffbot/controller_spawner-2] killing on exit
[diffbot/diffbot_base-1] killing on exit
[INFO] [1615072907.391812]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1615072907.399784]: Stopping all controllers...
[WARN] [1615072907.500548]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
[INFO] [1615072907.992893]: Sending tx stop request
shutting down processing monitor...
... shutting down processing monitor complete
done