Hood NUC ROS2 Clean Bringup 202003 Notes and Log
From wikidb
tmpBringup20200303.txt March 3, 2020 eepp@hood:~$ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-03-03-12-04-19-999258-hood-15796 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf [INFO] [robot_state_publisher-1]: process started with pid [15806] [INFO] [hlds_laser_publisher-2]: process started with pid [15807] [INFO] [turtlebot3_ros-3]: process started with pid [15808] [robot_state_publisher-1] Initialize urdf model from file: /home/eepp/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle.urdf [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link base_link had 7 children [robot_state_publisher-1] Link camera_link had 2 children [robot_state_publisher-1] Link camera_depth_frame had 1 children [robot_state_publisher-1] Link camera_depth_optical_frame had 0 children [robot_state_publisher-1] Link camera_rgb_frame had 1 children [robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-1] Link caster_back_left_link had 0 children [robot_state_publisher-1] Link caster_back_right_link had 0 children [robot_state_publisher-1] Link imu_link had 0 children [robot_state_publisher-1] Link base_scan had 0 children [robot_state_publisher-1] Link wheel_left_link had 0 children [robot_state_publisher-1] Link wheel_right_link had 0 children [robot_state_publisher-1] got segment base_footprint [robot_state_publisher-1] got segment base_link [robot_state_publisher-1] got segment base_scan [robot_state_publisher-1] got segment camera_depth_frame [robot_state_publisher-1] got segment camera_depth_optical_frame [robot_state_publisher-1] got segment camera_link [robot_state_publisher-1] got segment camera_rgb_frame [robot_state_publisher-1] got segment camera_rgb_optical_frame [robot_state_publisher-1] got segment caster_back_left_link [robot_state_publisher-1] got segment caster_back_right_link [robot_state_publisher-1] got segment imu_link [robot_state_publisher-1] got segment wheel_left_link [robot_state_publisher-1] got segment wheel_right_link [robot_state_publisher-1] Adding fixed segment from base_footprint to base_link [robot_state_publisher-1] Adding fixed segment from base_link to camera_link [robot_state_publisher-1] Adding fixed segment from camera_link to camera_depth_frame [robot_state_publisher-1] Adding fixed segment from camera_depth_frame to camera_depth_optical_frame [robot_state_publisher-1] Adding fixed segment from camera_link to camera_rgb_frame [robot_state_publisher-1] Adding fixed segment from camera_rgb_frame to camera_rgb_optical_frame [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_left_link [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_right_link [robot_state_publisher-1] Adding fixed segment from base_link to imu_link [robot_state_publisher-1] Adding fixed segment from base_link to base_scan [robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link [robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run! [turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry [turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!
