Turtlebot3 Burger ROS2 Foxy rviz Bringup 20210306 Notes and Logs
From wikidb
rvizBringup.txt March 6, 2021 ubuntu@ubuntu:~$ bringup_foxy.sh [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-03-06-17-56-11-415774-ubuntu-2198 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_burger.urdf /opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead Node( /opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead Node( [INFO] [robot_state_publisher-1]: process started with pid [2200] [INFO] [hlds_laser_publisher-2]: process started with pid [2202] [INFO] [turtlebot3_ros-3]: process started with pid [2204] [hlds_laser_publisher-2] [INFO] [1615053373.362326123] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main [hlds_laser_publisher-2] [INFO] [1615053373.364724703] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan [turtlebot3_ros-3] [INFO] [1615053373.387517824] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [1615053373.389091026] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [INFO] [1615053373.397347615] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [1615053373.408916184] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [robot_state_publisher-1] [WARN] [1615053373.428887178] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-1] Parsing robot urdf xml string. [turtlebot3_ros-3] [INFO] [1615053373.456392457] [turtlebot3_node]: Start Calibration of Gyro [robot_state_publisher-1] Link base_link had 5 children [robot_state_publisher-1] Link caster_back_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] [INFO] [1615053373.461237482] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1615053373.461390505] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1615053373.461438423] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1615053373.461478371] [robot_state_publisher]: got segment caster_back_link [robot_state_publisher-1] [INFO] [1615053373.461518268] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1615053373.461557539] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-1] [INFO] [1615053373.461609832] [robot_state_publisher]: got segment wheel_right_link [turtlebot3_ros-3] [INFO] [1615053378.456762634] [turtlebot3_node]: Calibration End [turtlebot3_ros-3] [INFO] [1615053378.457019981] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [1615053378.458193119] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [1615053378.460247778] [turtlebot3_node]: Add Sensors [turtlebot3_ros-3] [INFO] [1615053378.468104223] [turtlebot3_node]: Succeeded to create battery state publisher [turtlebot3_ros-3] [INFO] [1615053378.479584615] [turtlebot3_node]: Succeeded to create imu publisher [turtlebot3_ros-3] [INFO] [1615053378.487862991] [turtlebot3_node]: Succeeded to create sensor state publisher [turtlebot3_ros-3] [INFO] [1615053378.491024538] [turtlebot3_node]: Succeeded to create joint state publisher [turtlebot3_ros-3] [INFO] [1615053378.491723504] [turtlebot3_node]: Add Devices [turtlebot3_ros-3] [INFO] [1615053378.491857881] [turtlebot3_node]: Succeeded to create motor power server [turtlebot3_ros-3] [INFO] [1615053378.500017610] [turtlebot3_node]: Succeeded to create reset server [turtlebot3_ros-3] [INFO] [1615053378.503841039] [turtlebot3_node]: Succeeded to create sound server [turtlebot3_ros-3] [INFO] [1615053378.507479727] [turtlebot3_node]: Run! [turtlebot3_ros-3] [INFO] [1615053378.549860786] [diff_drive_controller]: Init Odometry [turtlebot3_ros-3] [INFO] [1615053378.583206273] [diff_drive_controller]: Run! eepp@sisters:~$ ros2 launch turtlebot3_bringup rviz2.launch.py [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2021-03-06-09-58-17-023393-sisters-4582 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [4584] [rviz2-1] [INFO] [1615053497.817157815] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1615053497.817367610] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-1] [INFO] [1615053497.857158264] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] Parsing robot urdf xml string. USER PID %CPU %MEM VSZ RSS TTY STAT START TIME COMMAND eepp 1812 0.0 0.0 164320 6588 tty2 Ssl+ 09:54 0:00 /usr/lib/gdm3/gdm-x-session --run-script env GNOME_SHELL_SESSION_MODE=ubuntu /usr/bin/gnome-session --systemd --session=ubuntu eepp 1815 5.3 1.2 919640 100652 tty2 Sl+ 09:54 0:39 /usr/lib/xorg/Xorg vt2 -displayfd 3 -auth /run/user/1000/gdm/Xauthority -background none -noreset -keeptty -verbose 3 eepp 1835 0.0 0.1 188724 14064 tty2 Sl+ 09:54 0:00 /usr/libexec/gnome-session-binary --systemd --systemd --session=ubuntu eepp 2539 0.0 0.0 11672 5616 pts/0 Ss 09:55 0:00 bash eepp 2611 0.0 0.0 11672 5540 pts/1 Ss 09:55 0:00 bash eepp 2661 0.0 0.0 11788 5480 pts/2 Ss 09:55 0:00 bash eepp 2744 0.0 0.0 11804 5996 pts/3 Ss 09:55 0:00 bash eepp 2817 0.0 0.0 15156 6732 pts/0 S+ 09:55 0:00 ssh ubuntu@10.0.0.187 eepp 4582 0.0 0.4 124504 33904 pts/1 Sl+ 09:58 0:00 /usr/bin/python3 /opt/ros/foxy/bin/ros2 launch turtlebot3_bringup rviz2.launch.py eepp 4584 50.9 2.7 2060088 223636 pts/1 Rl+ 09:58 4:27 /opt/ros/foxy/lib/rviz2/rviz2 -d /home/eepp/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/rviz/model.rviz --ros-args -r __node:=rviz2 eepp 4928 0.6 1.9 1658708 156572 pts/2 Sl+ 10:01 0:02 /usr/bin/python3 /opt/ros/foxy/bin/rqt_graph eepp 4962 0.3 0.7 1049028 60276 pts/3 Sl 10:01 0:01 /usr/bin/python3 /opt/ros/foxy/bin/_ros2_daemon --rmw-implementation rmw_fastrtps_cpp --ros-domain-id 30 eepp 5069 1.0 0.8 728168 66104 pts/3 Sl 10:05 0:01 emacs notes21/rvizBringup.txt eepp 5095 0.0 0.0 12028 3444 pts/3 R+ 10:07 0:00 ps -au some adjustments rvizBringup20210306.png short drive rvizBrinup3.png nav20210216Almost.png rvizbringup2.png nav20210216Errors.png rvizBringup20210306.png TerminalSelectFontSize.png after rpi breinup eepp@sisters:~$ ros2 topic list /battery_state /cmd_vel /imu /joint_states /magnetic_field /odom /parameter_events /robot_description /rosout /scan /sensor_state /tf /tf_static after rviz brinup eepp@sisters:~$ ros2 topic list /battery_state /clicked_point /cmd_vel /imu /joint_states /magnetic_field /move_base_simple/goal /odom /parameter_events /robot_description /rosout /scan /sensor_state /tf /tf_static
