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rod@raspi:~$ roslaunch diffbot_bringup bringup_with_laser.launch
... logging to /home/rod/.ros/log/60c2e9ba-8674-11eb-9fdc-15f401727d50/roslaunch-raspi-1310.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:41761/
SUMMARY
========
PARAMETERS
* /diffbot/camera/realsense2_camera/accel_fps: -1
* /diffbot/camera/realsense2_camera/accel_frame_id: camera_accel_frame
* /diffbot/camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
* /diffbot/camera/realsense2_camera/align_depth: False
* /diffbot/camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
* /diffbot/camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
* /diffbot/camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
* /diffbot/camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
* /diffbot/camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
* /diffbot/camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
* /diffbot/camera/realsense2_camera/allow_no_texture_points: False
* /diffbot/camera/realsense2_camera/base_frame_id: camera_link
* /diffbot/camera/realsense2_camera/calib_odom_file:
* /diffbot/camera/realsense2_camera/clip_distance: -2.0
* /diffbot/camera/realsense2_camera/color_fps: -1
* /diffbot/camera/realsense2_camera/color_frame_id: camera_color_frame
* /diffbot/camera/realsense2_camera/color_height: -1
* /diffbot/camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /diffbot/camera/realsense2_camera/color_width: -1
* /diffbot/camera/realsense2_camera/confidence_fps: -1
* /diffbot/camera/realsense2_camera/confidence_height: -1
* /diffbot/camera/realsense2_camera/confidence_width: -1
* /diffbot/camera/realsense2_camera/depth_fps: -1
* /diffbot/camera/realsense2_camera/depth_frame_id: camera_depth_frame
* /diffbot/camera/realsense2_camera/depth_height: -1
* /diffbot/camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
* /diffbot/camera/realsense2_camera/depth_width: -1
* /diffbot/camera/realsense2_camera/device_type:
* /diffbot/camera/realsense2_camera/enable_accel: False
* /diffbot/camera/realsense2_camera/enable_color: True
* /diffbot/camera/realsense2_camera/enable_confidence: True
* /diffbot/camera/realsense2_camera/enable_depth: True
* /diffbot/camera/realsense2_camera/enable_fisheye1: False
* /diffbot/camera/realsense2_camera/enable_fisheye2: False
* /diffbot/camera/realsense2_camera/enable_fisheye: False
* /diffbot/camera/realsense2_camera/enable_gyro: False
* /diffbot/camera/realsense2_camera/enable_infra1: False
* /diffbot/camera/realsense2_camera/enable_infra2: False
* /diffbot/camera/realsense2_camera/enable_infra: False
* /diffbot/camera/realsense2_camera/enable_pointcloud: False
* /diffbot/camera/realsense2_camera/enable_pose: False
* /diffbot/camera/realsense2_camera/enable_sync: False
* /diffbot/camera/realsense2_camera/filters:
* /diffbot/camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
* /diffbot/camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
* /diffbot/camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
* /diffbot/camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
* /diffbot/camera/realsense2_camera/fisheye_fps: -1
* /diffbot/camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /diffbot/camera/realsense2_camera/fisheye_height: -1
* /diffbot/camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /diffbot/camera/realsense2_camera/fisheye_width: -1
* /diffbot/camera/realsense2_camera/gyro_fps: -1
* /diffbot/camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
* /diffbot/camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
* /diffbot/camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
* /diffbot/camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
* /diffbot/camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
* /diffbot/camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
* /diffbot/camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
* /diffbot/camera/realsense2_camera/infra_fps: -1
* /diffbot/camera/realsense2_camera/infra_height: -1
* /diffbot/camera/realsense2_camera/infra_rgb: False
* /diffbot/camera/realsense2_camera/infra_width: -1
* /diffbot/camera/realsense2_camera/initial_reset: False
* /diffbot/camera/realsense2_camera/json_file_path:
* /diffbot/camera/realsense2_camera/linear_accel_cov: 0.01
* /diffbot/camera/realsense2_camera/odom_frame_id: camera_odom_frame
* /diffbot/camera/realsense2_camera/ordered_pc: False
* /diffbot/camera/realsense2_camera/pointcloud_texture_index: 0
* /diffbot/camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /diffbot/camera/realsense2_camera/pose_frame_id: camera_pose_frame
* /diffbot/camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
* /diffbot/camera/realsense2_camera/publish_odom_tf: True
* /diffbot/camera/realsense2_camera/publish_tf: True
* /diffbot/camera/realsense2_camera/rosbag_filename:
* /diffbot/camera/realsense2_camera/serial_no:
* /diffbot/camera/realsense2_camera/tf_publish_rate: 0.0
* /diffbot/camera/realsense2_camera/topic_odom_in: odom_in
* /diffbot/camera/realsense2_camera/unite_imu_method:
* /diffbot/camera/realsense2_camera/usb_port_id:
* /diffbot/hardware_interface/joints: ['front_left_whee...
* /diffbot/joint_state_controller/extra_joints: [{'name': 'rear_c...
* /diffbot/joint_state_controller/publish_rate: 10
* /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: 0.4
* /diffbot/mobile_base_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /diffbot/mobile_base_controller/publish_rate: 10
* /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: 0.2
* /diffbot/robot_description: <?xml version="1....
* /diffbot/ydlidar_node/angle_max: 180.0
* /diffbot/ydlidar_node/angle_min: -180.0
* /diffbot/ydlidar_node/auto_reconnect: True
* /diffbot/ydlidar_node/baudrate: 128000
* /diffbot/ydlidar_node/frame_id: laser_frame
* /diffbot/ydlidar_node/frequency: 8.0
* /diffbot/ydlidar_node/ignore_array:
* /diffbot/ydlidar_node/port: /dev/ydlidar
* /diffbot/ydlidar_node/range_max: 12.0
* /diffbot/ydlidar_node/range_min: 0.1
* /diffbot/ydlidar_node/resolution_fixed: True
* /diffbot/ydlidar_node/reversion: False
* /diffbot/ydlidar_node/samp_rate: 5
* /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_node (ydlidar_ros/ydlidar_node)
/diffbot/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [1322]
ROS_MASTER_URI=http://192.168.1.179:11311/
setting /run_id to 60c2e9ba-8674-11eb-9fdc-15f401727d50
process[rosout-1]: started with pid [1332]
started core service [/rosout]
process[diffbot/diffbot_base-2]: started with pid [1335]
process[diffbot/controller_spawner-3]: started with pid [1336]
process[diffbot/rosserial_teensy-4]: started with pid [1338]
process[diffbot/robot_state_publisher-5]: started with pid [1342]
process[diffbot/ydlidar_node-6]: started with pid [1343]
process[diffbot/base_link_to_laser4-7]: started with pid [1344]
__ ______ _ ___ ____ _ ____
\ \ / / _ \| | |_ _| _ \ / \ | _ \
\ V /| | | | | | || | | |/ _ \ | |_) |
| | | |_| | |___ | || |_| / ___ \| _ <
|_| |____/|_____|___|____/_/ \_\_| \_\
process[diffbot/camera/realsense2_camera_manager-8]: started with pid [1353]
process[diffbot/camera/realsense2_camera-9]: started with pid [1357]
[ INFO] [1615912002.016575866]: Waiting for model URDF on the ROS param server at location: /diffbot/diffbot/robot_description
[ INFO] [1615912002.192856199]: [YDLIDAR INFO] Now YDLIDAR ROS SDK VERSION:1.4.6 .......
[ INFO] [1615912002.198008255]: Initializing DiffBot Hardware Interface ...
[ INFO] [1615912002.198166069]: Number of joints: 2
[ INFO] [1615912002.198487718]: pid namespace: pid/left_motor
[ INFO] [1615912002.198604199]: Initialize PID
[ INFO] [1615912002.198684884]: Initializing dynamic reconfigure in namespace /diffbot/pid/left_motor
YDLidar SDK initializing
YDLidar SDK has been initialized
[YDLIDAR]:SDK Version: 1.4.7
[ INFO] [1615912002.238361236]: Initializing nodelet with 4 worker threads.
[ INFO] [1615912002.320638403]: Update PID Gains: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-12.3077, out_max=12.3077
LiDAR successfully connected
[ INFO] [1615912002.349477458]: Initialized dynamic reconfigure
[ INFO] [1615912002.350700255]: Initialized PID: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-12.3077, out_max=12.3077
[ INFO] [1615912002.351742143]: Update PID output limits: lower=12.3077, upper=-12.3077
[ INFO] [1615912002.354286051]: pid namespace: pid/right_motor
[ INFO] [1615912002.355791403]: Initialize PID
[ INFO] [1615912002.356971810]: Initializing dynamic reconfigure in namespace /diffbot/pid/right_motor
[ INFO] [1615912002.441482125]: Update PID Gains: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-12.3077, out_max=12.3077
[ INFO] [1615912002.467557588]: Initialized dynamic reconfigure
[ INFO] [1615912002.467984680]: Initialized PID: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-12.3077, out_max=12.3077
[ INFO] [1615912002.468226495]: Update PID output limits: lower=12.3077, upper=-12.3077
[ INFO] [1615912002.469404384]: ... Done Initializing DiffBot Hardware Interface
[YDLIDAR]:Lidar running correctly ! The health status: good
[YDLIDAR] Connection established in [/dev/ydlidar][128000]:
Firmware version: 1.10
Hardware version: 1
Model: X4
Serial: 2020062200002216
LiDAR init success!
[INFO] [1615912002.966032]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1615912002.986006]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1615912003.003220]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1615912003.024217]: Loading controller: joint_state_controller
[INFO] [1615912003.076813]: ROS Serial Python Node
[INFO] [1615912003.112144]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1615912003.120686]: Loading controller: mobile_base_controller
[ INFO] [1615912003.193495624]: Controller state will be published at 10Hz.
[ INFO] [1615912003.199421106]: Wheel separation will be multiplied by 1.
[ INFO] [1615912003.207717458]: Left wheel radius will be multiplied by 1.
[ INFO] [1615912003.208007921]: Right wheel radius will be multiplied by 1.
[ INFO] [1615912003.210912254]: Velocity rolling window size of 10.
[ INFO] [1615912003.215344661]: Velocity commands will be considered old if they are older than 0.5s.
[ INFO] [1615912003.218541347]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1615912003.225415550]: Base frame_id set to base_footprint
[ INFO] [1615912003.229007439]: Odometry frame_id set to odom
[ INFO] [1615912003.232084884]: Publishing to tf is enabled
[ INFO] [1615912003.303593921]: Odometry params : wheel separation 0.2, left wheel radius 0.0325, right wheel radius 0.0325
[ INFO] [1615912003.319762809]: Adding left wheel with joint name: front_left_wheel_joint and right wheel with joint name: front_right_wheel_joint
[ INFO] [1615912003.396503587]: Dynamic Reconfigure:
DynamicParams:
Odometry parameters:
left wheel radius multiplier: 1
right wheel radius multiplier: 1
wheel separation multiplier: 1
Publication parameters:
Publish executed velocity command: disabled
Publication rate: 10
Publish frame odom on tf: enabled
[INFO] [1615912003.420549]: Controller Spawner: Loaded controllers: joint_state_controller, mobile_base_controller
[INFO] [1615912003.520629]: Started controllers: joint_state_controller, mobile_base_controller
[YDLIDAR INFO] Current Sampling Rate : 5K
[YDLIDAR INFO] Now YDLIDAR is scanning ......
[ INFO] [1615912004.502523531]: RealSense ROS v2.2.22
[ INFO] [1615912004.502635364]: Built with LibRealSense v2.42.0
[ INFO] [1615912004.502700438]: Running with LibRealSense v2.42.0
[ INFO] [1615912004.571215661]:
[ INFO] [1615912004.899267346]: Device with serial number 819112071357 was found.
[ INFO] [1615912004.899539772]: Device with physical ID 1-1.1-3 was found.
[ INFO] [1615912004.899714142]: Device with name Intel RealSense D435 was found.
[ INFO] [1615912004.903140827]: Device with port number 1-1.1 was found.
[ INFO] [1615912004.903383253]: Device USB type: 2.1
[ WARN] [1615912004.903547383]: Device 819112071357 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1615912004.913277457]: getParameters...
[INFO] [1615912005.236225]: Requesting topics...
[ INFO] [1615912005.257968068]: setupDevice...
[ INFO] [1615912005.258217179]: JSON file is not provided
[ INFO] [1615912005.258369994]: ROS Node Namespace: diffbotcamera
[ INFO] [1615912005.258510697]: Device Name: Intel RealSense D435
[ INFO] [1615912005.258629308]: Device Serial No: 819112071357
[ INFO] [1615912005.258746882]: Device physical port: 1-1.1-3
[ INFO] [1615912005.258883660]: Device FW version: 05.12.10.00
[ INFO] [1615912005.259010012]: Device Product ID: 0x0B07
[ INFO] [1615912005.259133105]: Enable PointCloud: Off
[ INFO] [1615912005.259263494]: Align Depth: Off
[ INFO] [1615912005.259409456]: Sync Mode: Off
[ INFO] [1615912005.259650716]: Device Sensors:
[INFO] [1615912005.288752]: Note: publish buffer size is 512 bytes
[INFO] [1615912005.296706]: Setup publisher on encoder_ticks [diffbot_msgs/Encoder]
[ INFO] [1615912005.311065068]: Stereo Module was found.
[INFO] [1615912005.348382]: Note: subscribe buffer size is 512 bytes
[ INFO] [1615912005.366979845]: RGB Camera was found.
[ INFO] [1615912005.367410845]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1615912005.367600808]: num_filters: 0
[ INFO] [1615912005.367755123]: Setting Dynamic reconfig parameters.
[INFO] [1615912005.370962]: Setup subscriber on motor_left [std_msgs/Int32]
[INFO] [1615912005.405328]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1615912005.434981]: Setup subscriber on motor_right [std_msgs/Int32]
[ INFO] [1615912006.000161530]: Done Setting Dynamic reconfig parameters.
[ INFO] [1615912006.005916382]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1615912006.008177808]: color stream is enabled - width: 640, height: 480, fps: 15, Format: RGB8
[ INFO] [1615912006.008451382]: setupPublishers...
[ INFO] [1615912006.024318604]: Expected frequency for depth = 15.00000
[ INFO] [1615912006.203625493]: Expected frequency for color = 15.00000
[ INFO] [1615912006.300343919]: setupStreams...
[ INFO] [1615912006.325947493]: insert Depth to Stereo Module
[ INFO] [1615912006.326332493]: insert Color to RGB Camera
16/03 11:26:46,522 WARNING [281473041940848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1615912006.574344271]: SELECTED BASE:Depth, 0
[ INFO] [1615912006.637249789]: RealSense Node Is Up!
[ WARN] [1615912006.765120641]:
16/03 11:26:46,879 WARNING [281473041940848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
16/03 11:26:46,961 WARNING [281473041940848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
16/03 11:26:47,012 WARNING [281473041940848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
16/03 11:26:47,368 WARNING [281473041940848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
16/03 11:26:47,419 WARNING [281473041940848] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61