Discussion - Changes for running mobile robot on Humble/Jammy

Articulated Robotics Content Discussions
#42

Hey M.josh
Thank you for the update. My question is, I would like to test this robot first by simply uploading the code you provided in the description of the YouTube video and following the steps and changes you made. I tried it, but the robot won’t move with either the ros2 run teleop_twist_keyboard teleop_twist_keyboard command or the ball tracker algorithm. It just keeps turning around the left wheel all the time. Should I rebuild it following your tutorial, or is there another solution? Thanks for replying.

Best regards,

#43

Greetings, I’m trying to follow along the series as I design my own bot, but in Humble. Cloning articubot_one from git, I’m able to get everything running from a control standpoint, but the camera and laser topics do not launch when using “launch_robot.launch.py” script. The urdf’s for the camera and lidar load just fine in simulation, just no topics. When I watch the videos in the series, camera and lidar seem to be available in sim from that single launch command.

Question - are those all separate launch files, or does Foxy pull in packages by default that Humble would not?

Only the following topics load with sim:

/clicked_point
/clock
/cmd_vel
/cmd_vel_joy
/cmd_vel_tracker
/diagnostics
/diff_cont/cmd_vel_unstamped
/diff_cont/odom
/diff_cont/transition_event
/dynamic_joint_states
/goal_pose
/initialpose
/joint_broad/transition_event
/joint_states
/joy
/joy/set_feedback
/parameter_events
/performance_metrics
/robot_description
/rosout
/tf
/tf_static

#44

Hi community,
First-off, many thanks to Josh for the great material.
I am having an issue with my /odom frame not showing up in rviz at all. I have the gazebo control command to publish_odom set to true etc and funnily enough this has worked on a laptop using the same repo. On my dev machine however, I can’t see the topic. Does anyone know of this issue at all?
I just have no tf’s showing up without being able to set my odom frame. I have heard there are issues with odom not being published when the controller_manager is not using sim time.
See here.

I am also getting the terminal output:

[ERROR] [gzserver-5]: process has died [pid 8604, exit code 255, cmd ‘gzserver /home/greggz/dev/pi_dev_ws/articubot_one/worlds/cones.world -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so --ros-args --params-file /home/greggz/dev/pi_dev_ws_copy/install/articubot_one/share/articubot_one/config/gazebo_params.yaml’].
[spawn_entity.py-7] [INFO] [1718176855.784051815] [spawn_entity]: Spawn Entity started
[spawn_entity.py-7] [INFO] [1718176855.784383578] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-7] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-7] warnings.warn(
[spawn_entity.py-7] [INFO] [1718176855.786096802] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-7] [INFO] [1718176855.796817613] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-7] [INFO] [1718176855.797126966] [spawn_entity]: Waiting for service /spawn_entity
[spawner-8] [INFO] [1718176857.744004194] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-9] [INFO] [1718176857.760207703] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-8] [INFO] [1718176859.751059006] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-9] [INFO] [1718176859.769959948] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-8] [INFO] [1718176861.760329137] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-9] [INFO] [1718176861.777056150] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-8] [INFO] [1718176863.767548160] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-9] [INFO] [1718176863.786248879] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-8] [ERROR] [1718176865.774747141] [spawner_diff_cont]: Controller manager not available
[spawner-9] [ERROR] [1718176865.796215398] [spawner_joint_broad]: Controller manager not available
[ERROR] [spawner-8]: process has died [pid 8610, exit code 1, cmd ‘/opt/ros/humble/lib/controller_manager/spawner diff_cont --ros-args’].
[ERROR] [spawner-9]: process has died [pid 8612, exit code 1, cmd ‘/opt/ros/humble/lib/controller_manager/spawner joint_broad --ros-args’].

Has anyone solved this issue of the odom tf not being published?
Many thanks in advance.

#45

Hi , im facing the same issue , tried your solution but it was in vain. Could you please guide me on how i can resolve this ??

#46

pipc@pipc:~/dev_ws$ source install/setup.bash

pipc@pipc:~/dev_ws$ ros2 launch articubot_one launch_sim.launch.py world:=src/articubot_one/worlds/obstacles.world

[INFO] [launch]: All log files can be found below /home/pipc/.ros/log/2024-07-02-13-23-57-822208-pipc-36841
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): “package ‘twist_mux’ not found, searching: [‘/home/pipc/dev_ws/install/ball_tracker’, ‘/home/pipc/dev_ws/install/articubot_one’, ‘/opt/ros/humble’]”

any one know its solution

#47

gedit ~/.bashrc

source /opt/ros/humble/setup.bash

#48

please help me out twist mux package not found thats my fyp and deadline is 7july

#49

Hello, I’m following the tutorial and adapting to ROS Humble but I’m having this issue when launching the launch_robot.
Can you help me or guide me in troubleshooting this error?

/robot_ws$ ros2 launch lizardbot1 launch_robot.launch.py
[INFO] [launch]: All log files can be found below /home/manuel/.ros/log/2024-09-11-01-39-39-345167-manuel-rpi4b-14700
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [14702]
[robot_state_publisher-1] [INFO] [1726015180.416354100] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1726015180.416657040] [robot_state_publisher]: got segment camera
[robot_state_publisher-1] [INFO] [1726015180.416703502] [robot_state_publisher]: got segment camera_optical
[robot_state_publisher-1] [INFO] [1726015180.416734224] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1726015180.416760298] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1726015180.416786112] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1726015180.416810279] [robot_state_publisher]: got segment lidar
[robot_state_publisher-1] [INFO] [1726015180.416833315] [robot_state_publisher]: got segment right_wheel
[INFO] [ros2_control_node-2]: process started with pid [14724]
[INFO] [spawner-3]: process started with pid [14726]
[INFO] [spawner-4]: process started with pid [14728]
[ros2_control_node-2] [WARN] [1726015186.116352004] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.
[ros2_control_node-2] [INFO] [1726015186.117874446] [resource_manager]: Loading hardware ‘RealRobot’
[ros2_control_node-2] terminate called after throwing an instance of ‘pluginlib::LibraryLoadException’
[ros2_control_node-2] what(): According to the loaded plugin descriptions the class diffdrive_arduino/DiffDriveArduinoHardware with base class type hardware_interface::SystemInterface does not exist. Declared types are diffdrive_arduino/DiffDriveArduino fake_components/GenericSystem fake_robot/FakeRobot mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem
[spawner-4] [INFO] [1726015187.412823660] [spawner_diff_cont]: waiting for service /controller_manager/list_controllers to become available…
[spawner-3] [INFO] [1726015187.417740539] [spawner_joint_broad]: waiting for service /controller_manager/list_controllers to become available…
[ERROR] [ros2_control_node-2]: process has died [pid 14724, exit code -6, cmd ‘/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_e3ocn1u7 --params-file /home/manuel/robot_ws/install/lizardbot1/share/lizardbot1/config/my_controllers.yaml’].
[spawner-4] [WARN] [1726015197.440823715] [spawner_diff_cont]: Could not contact service /controller_manager/list_controllers
[spawner-3] [WARN] [1726015197.444375871] [spawner_joint_broad]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1726015197.447669993] [spawner_diff_cont]: waiting for service /controller_manager/list_controllers to become available…
[spawner-3] [INFO] [1726015197.448979179] [spawner_joint_broad]: waiting for service /controller_manager/list_controllers to become available…
[spawner-3] [WARN] [1726015207.475644678] [spawner_joint_broad]: Could not contact service /controller_manager/list_controllers
[spawner-4] [WARN] [1726015207.475678733] [spawner_diff_cont]: Could not contact service /controller_manager/list_controllers
[spawner-4] [INFO] [1726015207.482327051] [spawner_diff_cont]: waiting for service /controller_manager/list_controllers to become available…
[spawner-3] [INFO] [1726015207.482370625] [spawner_joint_broad]: waiting for service /controller_manager/list_controllers to become available…
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1726015210.538115666] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 14702]
[INFO] [spawner-4]: process has finished cleanly [pid 14728]
[INFO] [spawner-3]: process has finished cleanly [pid 14726]

#50

I been able to resolve the issue by using the diffdrive_arduino package (humble branch) from Josh repo :

#52

Hello Josh, hello community

I am using articubot_one-humble.zip, diffdrive_arduino-humble.zip
from joshnewans (Josh Newans) · GitHub.

starting:
ros2 launch articubot_one launch_sim.launch.py
…gazebo launches correct
ros2 run teleop_twist_keyboard teleop_twist_keyboard

When the key ’ i ’ is pressed, the wheels turn for about one revolution and then stop, until the next key ’ i ’ is pressed.

“i” or “u” … all do the same
Shouldn’t it be stopped with the “space” key, for example, and not automatically?

what changes are necessary to eliminate this behavior?

additional info:

ls -1 src
articubot_one-humble
diffdrive_arduino-humble

colcon…

[ERROR] [launch]: Caught exception in launch (see debug for traceback): “package ‘twist_mux’ not found, searching: [‘…_ws/install/diffdrive_arduino’, ‘…_ws/install/articubot_one’, ‘/opt/ros/humble’]”

I added then twist_mux
ls -1 src
articubot_one-humble
diffdrive_arduino-humble
twist_mux

colcon, source, … ros2 launch articubot_one launch_sim.launch.py

I removed twist_mux again because:
sudo apt install ros-humble-twist-mux

11 Jun '23
Discussion - Running ros2_control on a real robot (Making a Mobile Robot Pt 13)
by Josh

#53

Hello Josh
I am using articubot_one-humble.zip, diffdrive_arduino-humble.zip
from joshnewans (Josh Newans) · GitHub.

but this time on rpi4 8G and not like above on dev-machine (VMware).

ls -1 src
articubot_one-humble
diffdrive_arduino-humble
serial

ros2 launch articubot_one launch_robot.launch.py
with
ros2 run teleop_twist_keyboard teleop_twist_keyboard

the wheels turn for about one revolution as it does on the dev-machine

made some trace:
[ros2_control_node-3] [INFO] [1735237385.141011566] [DiffDriveArduinoHardware]: ENC ‘0 20’
[ros2_control_node-3] [INFO] [1735237386.407855922] [controller_manager]: Loading controller ‘diff_cont’
[ros2_control_node-3] [INFO] [1735237386.599903375] [controller_manager]: Loading controller ‘joint_broad’
[spawner-5] [INFO] [1735237386.879360927] [spawner_diff_cont]: Loaded diff_cont
[ros2_control_node-3] [INFO] [1735237386.891296439] [controller_manager]: Configuring controller ‘diff_cont’
[spawner-4] [INFO] [1735237387.088330377] [spawner_joint_broad]: Loaded joint_broad
[ros2_control_node-3] [INFO] [1735237387.252216907] [controller_manager]: Configuring controller ‘joint_broad’
[ros2_control_node-3] [INFO] [1735237387.252650589] [joint_broad]: ‘joints’ or ‘interfaces’ parameter is empty. All available state interfaces will be published
[spawner-5] [INFO] [1735237387.259805801] [spawner_diff_cont]: Configured and activated diff_cont
[spawner-4] [INFO] [1735237387.598657380] [spawner_joint_broad]: Configured and activated joint_broad
[INFO] [spawner-5]: process has finished cleanly [pid 22216]
[INFO] [spawner-4]: process has finished cleanly [pid 22214]
’ s2_control_node-3] [INFO] [1735237464.236035755] [DiffDriveArduinoHardware]: SSS 'o 194 358
[ros2_control_node-3] [INFO] [1735237464.347295781] [DiffDriveArduinoHardware]: ENC ‘20 20’
’ s2_control_node-3] [INFO] [1735237464.347518854] [DiffDriveArduinoHardware]: SSS 'o 194 358
[ros2_control_node-3] [INFO] [1735237464.461299659] [DiffDriveArduinoHardware]: ENC ‘160 190’
’ s2_control_node-3] [INFO] [1735237464.461546305] [DiffDriveArduinoHardware]: SSS 'o 194 358
[ros2_control_node-3] [INFO] [1735237464.579297991] [DiffDriveArduinoHardware]: ENC ‘190 200’
’ s2_control_node-3] [INFO] [1735237464.579852284] [DiffDriveArduinoHardware]: SSS 'o 194 358
[ros2_control_node-3] [INFO] [1735237464.693751589] [DiffDriveArduinoHardware]: ENC ‘240 210’
’ s2_control_node-3] [INFO] [1735237464.693954513] [DiffDriveArduinoHardware]: SSS 'o 194 358
[ros2_control_node-3] [INFO] [1735237464.807962206] [DiffDriveArduinoHardware]: ENC ‘240 230’

I use “o” instead of “m”, because I do not understand the meaning/difference yet
My board: Arduino NANO 33 Iot

How can I eliminate this “one turn” behavior on rpi4 8G and on dev-machine?

PS. next will be articubot_one-main.zip, diffdrive_arduino-main.zip
on the same rpi4, Arduino and dev-machine

#54

pi@ubuntu:~/robot_ws$ source install/setup.bash
pi@ubuntu:~/robot_ws$ ros2 launch aris launch_robot.launch.py
[INFO] [launch]: All log files can be found below /home/pi/.ros/log/2025-01-09-01-03-35-181770-ubuntu-1123
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [1125]
[INFO] [twist_mux-2]: process started with pid [1127]
[twist_mux-2] [INFO] [1736364816.473366096] [twist_mux]: Topic handler ‘topics.joystick’ subscribed to topic ‘cmd_vel_joy’: timeout = 0.500000s , priority = 100.
[twist_mux-2] [INFO] [1736364816.491809521] [twist_mux]: Topic handler ‘topics.navigation’ subscribed to topic ‘cmd_vel’: timeout = 0.500000s , priority = 10.
[twist_mux-2] [INFO] [1736364816.493233793] [twist_mux]: Topic handler ‘topics.tracker’ subscribed to topic ‘cmd_vel_tracker’: timeout = 0.500000s , priority = 20.
[robot_state_publisher-1] [INFO] [1736364816.530567313] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1736364816.530988687] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1736364816.531061169] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1736364816.531105170] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1736364816.531145022] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1736364816.531182893] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1736364816.531219523] [robot_state_publisher]: got segment face_link
[robot_state_publisher-1] [INFO] [1736364816.531302968] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1736364816.531350579] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1736364816.531390320] [robot_state_publisher]: got segment right_wheel
[INFO] [ros2_control_node-3]: process started with pid [1174]
[INFO] [spawner-4]: process started with pid [1176]
[INFO] [spawner-5]: process started with pid [1178]
[ros2_control_node-3] [WARN] [1736364822.759789817] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.
[ros2_control_node-3] [INFO] [1736364822.760995809] [resource_manager]: Loading hardware ‘RealRobot’
[ros2_control_node-3] terminate called after throwing an instance of ‘pluginlib::LibraryLoadException’
[ros2_control_node-3] what(): According to the loaded plugin descriptions the class diffdrive_arduino/DiffDriveArduinoHardware with base class type hardware_interface::SystemInterface does not exist. Declared types are diffdrive_arduino/DiffDriveArduino fake_components/GenericSystem fake_robot/FakeRobot mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem
[ros2_control_node-3] Stack trace (most recent call last):
[ros2_control_node-3] #16 Object “/usr/lib/aarch64-linux-gnu/ld-linux-aarch64.so.1”, at 0xffffffffffffffff, in
[ros2_control_node-3] #15 Object “/opt/ros/humble/lib/controller_manager/ros2_control_node”, at 0xaaaae332476f, in
[ros2_control_node-3] #14 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae3474cb, in __libc_start_main
[ros2_control_node-3] #13 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae3473fb, in
[ros2_control_node-3] #12 Object “/opt/ros/humble/lib/controller_manager/ros2_control_node”, at 0xaaaae3323d17, in
[ros2_control_node-3] #11 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0xffffaea12863, in controller_manager::ControllerManager::ControllerManager(std::shared_ptrrclcpp::Executor, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ros2_control_node-3] #10 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0xffffaea0e9af, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #9 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffffae1c71c7, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ros2_control_node-3] #8 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffffae1c580b, in
[ros2_control_node-3] #7 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffffae1db283, in
[ros2_control_node-3] #6 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffffae5a2e03, in __cxa_throw
[ros2_control_node-3] #5 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffffae5a2b1f, in std::terminate()
[ros2_control_node-3] #4 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffffae5a2abb, in
[ros2_control_node-3] #3 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffffae5a62db, in __gnu_cxx::__verbose_terminate_handler()
[ros2_control_node-3] #2 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae34712f, in abort
[ros2_control_node-3] #1 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae35a67b, in raise
[ros2_control_node-3] #0 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae39f200, in
[ros2_control_node-3] Aborted (Signal sent by tkill() 1174 1000)
[spawner-4] [INFO] [1736364823.964251390] [spawner_joint_broad]: waiting for service /controller_manager/list_controllers to become available…
[spawner-5] [INFO] [1736364823.964251427] [spawner_diff_cont]: waiting for service /controller_manager/list_controllers to become available…
[ERROR] [ros2_control_node-3]: process has died [pid 1174, exit code -6, cmd ‘/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_sy90ohlu --params-file /home/pi/robot_ws/install/aris/share/aris/config/my_controllers.yaml’].

iam face this error any fix?

#55

hello pi@ubuntu:~/robot_ws$ source install/setup.bash
pi@ubuntu:~/robot_ws$ ros2 launch aris launch_robot.launch.py
[INFO] [launch]: All log files can be found below /home/pi/.ros/log/2025-01-09-01-03-35-181770-ubuntu-1123
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [1125]
[INFO] [twist_mux-2]: process started with pid [1127]
[twist_mux-2] [INFO] [1736364816.473366096] [twist_mux]: Topic handler ‘topics.joystick’ subscribed to topic ‘cmd_vel_joy’: timeout = 0.500000s , priority = 100.
[twist_mux-2] [INFO] [1736364816.491809521] [twist_mux]: Topic handler ‘topics.navigation’ subscribed to topic ‘cmd_vel’: timeout = 0.500000s , priority = 10.
[twist_mux-2] [INFO] [1736364816.493233793] [twist_mux]: Topic handler ‘topics.tracker’ subscribed to topic ‘cmd_vel_tracker’: timeout = 0.500000s , priority = 20.
[robot_state_publisher-1] [INFO] [1736364816.530567313] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1736364816.530988687] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1736364816.531061169] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1736364816.531105170] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1736364816.531145022] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1736364816.531182893] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1736364816.531219523] [robot_state_publisher]: got segment face_link
[robot_state_publisher-1] [INFO] [1736364816.531302968] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1736364816.531350579] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1736364816.531390320] [robot_state_publisher]: got segment right_wheel
[INFO] [ros2_control_node-3]: process started with pid [1174]
[INFO] [spawner-4]: process started with pid [1176]
[INFO] [spawner-5]: process started with pid [1178]
[ros2_control_node-3] [WARN] [1736364822.759789817] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.
[ros2_control_node-3] [INFO] [1736364822.760995809] [resource_manager]: Loading hardware ‘RealRobot’
[ros2_control_node-3] terminate called after throwing an instance of ‘pluginlib::LibraryLoadException’
[ros2_control_node-3] what(): According to the loaded plugin descriptions the class diffdrive_arduino/DiffDriveArduinoHardware with base class type hardware_interface::SystemInterface does not exist. Declared types are diffdrive_arduino/DiffDriveArduino fake_components/GenericSystem fake_robot/FakeRobot mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem
[ros2_control_node-3] Stack trace (most recent call last):
[ros2_control_node-3] #16 Object “/usr/lib/aarch64-linux-gnu/ld-linux-aarch64.so.1”, at 0xffffffffffffffff, in
[ros2_control_node-3] #15 Object “/opt/ros/humble/lib/controller_manager/ros2_control_node”, at 0xaaaae332476f, in
[ros2_control_node-3] #14 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae3474cb, in __libc_start_main
[ros2_control_node-3] #13 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae3473fb, in
[ros2_control_node-3] #12 Object “/opt/ros/humble/lib/controller_manager/ros2_control_node”, at 0xaaaae3323d17, in
[ros2_control_node-3] #11 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0xffffaea12863, in controller_manager::ControllerManager::ControllerManager(std::shared_ptrrclcpp::Executor, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ros2_control_node-3] #10 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0xffffaea0e9af, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #9 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffffae1c71c7, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ros2_control_node-3] #8 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffffae1c580b, in
[ros2_control_node-3] #7 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffffae1db283, in
[ros2_control_node-3] #6 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffffae5a2e03, in __cxa_throw
[ros2_control_node-3] #5 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffffae5a2b1f, in std::terminate()
[ros2_control_node-3] #4 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffffae5a2abb, in
[ros2_control_node-3] #3 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffffae5a62db, in __gnu_cxx::__verbose_terminate_handler()
[ros2_control_node-3] #2 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae34712f, in abort
[ros2_control_node-3] #1 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae35a67b, in raise
[ros2_control_node-3] #0 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffffae39f200, in
[ros2_control_node-3] Aborted (Signal sent by tkill() 1174 1000)
[spawner-4] [INFO] [1736364823.964251390] [spawner_joint_broad]: waiting for service /controller_manager/list_controllers to become available…
[spawner-5] [INFO] [1736364823.964251427] [spawner_diff_cont]: waiting for service /controller_manager/list_controllers to become available…
[ERROR] [ros2_control_node-3]: process has died [pid 1174, exit code -6, cmd ‘/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_sy90ohlu --params-file /home/pi/robot_ws/install/aris/share/aris/config/my_controllers.yaml’].

please can you help me to fix this error iam stuck from past few days in this error please reply to this help me out

#56

sudo apt-get update
sudo apt-get install libserial-dev

#57

Hi all,
@JoshNewans Thank you very much for your tutorials

my last two questions … well it is my first ROS project
…
The wheels turn for about one revolution, but if I publish a Twist msg
continuously, everything works fine
z.B.
msg = Twist()
msg.linear.x = linear_x
msg.angular.z = angular_z
self.publisher.publish(msg)
…
when in rviz2 the articubot drives one round ( base_link <-> odom ) -
(ros2 run rviz2 rviz2 -d src/articubot_one-humble/config/main.rviz) -
my robo drives about four rounds

I made some maps and constrains (arduino C)
on the arduino so “o xxx xxx” turn the wheels at a reasonable speed

is there a tutorial how to set it up?

how can I synchronize the two?
…
I noticed it is only the “o xxx xxx” msg, which drives the articubot on rviz2 screen
and the encoder msg z.Z. has no influence

I use two slotted disc as encoder wheels and the ‘pulses’ are send when “e” received;
(pulse count (ticks) since the last “e”)

I am very grateful for any tips on setup

Thanks

#58

Hi! Did you find the solution. I also found the same error with camera.launch.py. The camera and related topics are found but couldn’t view in rqt_image_view. I am using pi cam v3.

#59

[ros2_control_node-3] [WARN] [1740372429.577575866] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.
[ros2_control_node-3] [INFO] [1740372429.578358832] [resource_manager]: Loading hardware ‘RealRobot’
[ros2_control_node-3] [INFO] [1740372429.580915672] [resource_manager]: Initialize hardware ‘RealRobot’
[ros2_control_node-3] [INFO] [1740372429.581739712] [DiffDriveArduino]: Configuring…
[ros2_control_node-3] terminate called after throwing an instance of ‘std::invalid_argument’
[ros2_control_node-3] what(): stoi
[ros2_control_node-3] Stack trace (most recent call last):
[ros2_control_node-3] #21 Object “/usr/lib/aarch64-linux-gnu/ld-linux-aarch64.so.1”, at 0xffffffffffffffff, in
[ros2_control_node-3] #20 Object “/opt/ros/humble/lib/controller_manager/ros2_control_node”, at 0xaaaac88746ef, in
[ros2_control_node-3] #19 Source “…/csu/libc-start.c”, line 392, in __libc_start_main_impl [0xffff9d0a74cb]
[ros2_control_node-3] #18 Source “…/sysdeps/nptl/libc_start_call_main.h”, line 58, in __aarch64_ldadd4_acq [0xffff9d0a73fb]
[ros2_control_node-3] #17 Object “/opt/ros/humble/lib/controller_manager/ros2_control_node”, at 0xaaaac8873cd7, in
[ros2_control_node-3] #16 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0xffff9d771a8b, in controller_manager::ControllerManager::ControllerManager(std::shared_ptrrclcpp::Executor, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ros2_control_node-3] #15 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0xffff9d76d01f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-3] #14 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffff9cf273af, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ros2_control_node-3] #13 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffff9cf2638f, in
[ros2_control_node-3] #12 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffff9cf4c89f, in
[ros2_control_node-3] #11 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffff9cf4aba7, in hardware_interface::System::initialize(hardware_interface::HardwareInfo const&)
[ros2_control_node-3] #10 Object “/home/feeteam/real_ws/build/diffdrive_arduino/libdiffdrive_arduino.so”, at 0xffff9589cba3, in DiffDriveArduino::on_init(hardware_interface::HardwareInfo const&)
[ros2_control_node-3] #9 Object “/home/feeteam/real_ws/build/diffdrive_arduino/libdiffdrive_arduino.so”, at 0xffff9589deeb, in std::__cxx11::stoi(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, unsigned long*, int)
[ros2_control_node-3] #8 Object “/home/feeteam/real_ws/build/diffdrive_arduino/libdiffdrive_arduino.so”, at 0xffff9589f1d7, in int __gnu_cxx::__stoa<long, int, char, int>(long ()(char const, char**, int), char const*, char const*, unsigned long*, int)
[ros2_control_node-3] #7 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffff9d2fe2bf, in std::__throw_invalid_argument(char const*)
[ros2_control_node-3] #6 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffff9d302e03, in __cxa_throw
[ros2_control_node-3] #5 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffff9d302b1f, in std::terminate()
[ros2_control_node-3] #4 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffff9d302abb, in
[ros2_control_node-3] #3 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffff9d3062db, in __gnu_cxx::__verbose_terminate_handler()
[ros2_control_node-3] #2 Source “./stdlib/abort.c”, line 79, in abort [0xffff9d0a712f]
[ros2_control_node-3] #1 Source “…/sysdeps/posix/raise.c”, line 26, in raise [0xffff9d0ba67b]
[ros2_control_node-3] #0 Source “./nptl/pthread_kill.c”, line 44, in __pthread_kill_implementation [0xffff9d0ff1f0]
[ros2_control_node-3] Aborted (Signal sent by tkill() 10002 1000)
[ERROR] [ros2_control_node-3]: process has died [pid 10002, exit code -6, cmd ‘/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_fg1azlgq --params-file /home/feeteam/real_ws/install/ros_robot_prj/share/ros_robot_prj/config/my_controllers.yaml’].
[spawner-4] [INFO] [1740372433.175830012] [spawner_joint_broad]: waiting for service /controller_manager/list_controllers to become available…
[spawner-5] [INFO] [1740372433.215305681] [spawner_diff_cont]: waiting for service /controller_manager/list_controllers to become available…
[spawner-4] [WARN] [1740372443.205755151] [spawner_joint_broad]: Could not contact service /controller_manager/list_controllers
Has anyone encountered this error? Can you help me fix this error