TB3 build fail at SBC setup (15.1.2) of Micro-XRCE-DDS-Agent Install Fail #461
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This issue is probably caused by a conflict with the previous agent. |
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Hi, @OpusK I've build a clean environment and test it. First round is ok after build successful, but second round is fail while use 'ps | grep "MicroXRCEAgent"' command for checking process ID and kill it. and check topic list we can see lost more. Terminal 1 ######################################################################## Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. ========== NOTE ========== use 'ps | grep "MicroXRCEAgent"' command for checking process ID Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.intel@intel-desktop: ######################################################################## Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. ========== NOTE ========== use 'ps | grep "MicroXRCEAgent"' command for checking process ID Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.intel@intel-desktop: Terminal2 Terminal3 |
You must check the process ID (PID) with ps and kill the process with the kill command. |
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I tried reboot system & reset OpenCR, and than run launch command again, but still no PID output. intel@intel-desktop:~/tb3_sbc_settings$ cd ~/tb3_sbc_settings && ./run.sh ######################################################################## Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. ========== NOTE ========== use 'ps | grep "MicroXRCEAgent"' command for checking process ID Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.intel@intel-desktop: |
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Except for the |
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Except for the grep command, and only run the ps command., no PID display. run lsusb can see the device already connected. intel@intel-desktop:~/tb3_sbc_settings$ cd ~/tb3_sbc_settings && ./run.sh ######################################################################## Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. ========== NOTE ========== use 'ps | grep "MicroXRCEAgent"' command for checking process ID Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.intel@intel-desktop: |
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What operating system does your development environment use on x86? I recommend you to run the commands in the
$ cd ~/tb3_sbc_settings
$ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 1000000 -r tb3_fastrtps_profile.refs -v 5
$ cd ~/tb3_sbc_settings
$ MicroXRCEAgent udp -p 2019 -r tb3_fastrtps_profile.refs -v 5
$ cd ~/tb3_sbc_settings
$ ./turtlebot3_lidar_xrce_client |
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@OpusK after run above 3 command, all fail and display libfastrtps.so.1 missing. Terminal 1 (After reset OpenCR) Terminal 2 Terminal 3 |
Are you using NUC instead of TB3's Raspberry Pi?
It looks like the MicroXRCEAgent is not installed properly. |
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yes, using NUC instead of TB3's Raspberry Pi. I tried first round workable, and follow e-manual (http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#setup) to run 15.2 ~15.3 are workable. |
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@OpusK |
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after re-install SBC setup, build issue exist, so can you explain detail usage of eProsima/Micro-XRCE-DDS-Agent#95 ? /usr/bin/ld: /usr/local/lib/libmicroxrcedds_client.a(session.c.o): relocation R_X86_64_PC32 against symbol `uxr_flash_output_streams' can not be used when making a shared object; recompile with -fPIC [Fail] Micro-XRCE-DDS-Agent Install Fail |
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I don't want to recommend eProsima/Micro-XRCE-DDS-Agent#95's way. This is because you need to link the library folder every time.
@ksd2201, This is a phenomenon I have never seen. @rafaelhuang-intel, What files did you delete to remove Agent's previous installation library? |
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only remove tb3_sbc_settings folder and unzip tar package again, so could tell me how many library need remove? |
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Delete the library files that contain the word $ sudo find / -name "*microxrcedds*"The reason why installation/uninstallation is complicated is that eProsima's products do not yet support a simple method and they will be updated later. |
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The command of your provide not search any one, so I changed command to "sudo find / -name "microxrcedds"", and than all relate file are list in terminal, could you help to check if all file need delete? intel@intel-desktop:~$ sudo find / -name "microxrcedds" |
Oh sorry. I missed the option. I think deleting the files below will solve it. |
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after delete all library files and re-build again, it's workable. I tried (http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#setup)15.2 + 15.3, it's ok, but tried 15.2+15.4, cartographer cannot build map and popup error message "[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty", could you meet same problem? intel@intel-desktop:~/tb3_sbc_settings$ ros2 launch turtlebot3_cartographer cartographer.launch.py [INFO] [cartographer_node-1]: process started with pid [17909] |
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The issue with packages seems to take time, as mentioned in #460. |
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@OpusK @rafaelhuang-intel - this error being thrown by cartographer is causing it to crash: We've seen this also and it is a bug in the turtlebot3_lidar publisher. It isn't declaring the topic.intensities_size for the intensities data to be = 360. Changing that fixed the issue for us. Since it's inside the tb3_sbc_settings.tar.bz2 tar file, I can't submit a PR with the fix, but the line of code I changed was in turtlebot3_lidar/main.cpp: That fixes the problem for us. |
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I've build a new pure environment and follow (http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#ros2) to setup TB3, but I meet a problem of TB3 launch. when I run script "./run.sh", I meet core dump (see below log) intel@intel-desktop:~/tb3_sbc_settings$ ./run.sh ######################################################################## nohup: ignoring input and appending output to 'nohup.out' Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. ========== NOTE ========== use 'ps | grep "MicroXRCEAgent"' command for checking process ID Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.intel@intel-desktop:~/tb3_sbc_settings$ ps | grep "MicroXRCEAgent" and than, I tried split launch command to debug (see below log) T1 T2 T3 meet core dump in T3 to launch tb3 lidar, so I tried use root permission to launch, it's workable. and next , I launch teleop and tb3 rviz, and press "w/x/a/d" on keyboard, I can see the path will move and show in Rviz, but real TB3 no response. T4 Control Your TurtleBot3!Moving around: T5 |
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@rafaelhuang-intel |
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base_scan only show in Terminal 5. in my side, the first priority is TB3 launch problem, intel@intel-desktop:~/tb3_sbc_settings$ ./run.sh ######################################################################## nohup: ignoring input and appending output to 'nohup.out' Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background. ========== NOTE ========== use 'ps | grep "MicroXRCEAgent"' command for checking process ID Also, logs running in the background are stored in nohup.out in the current folder where this command was executed. and than, I tried split launch command to debug (see below log) T1 T2 T3 meet core dump in T3 to launch tb3 lidar, so I tried use root permission to launch, it's workable. and next , I launch teleop and tb3 rviz, and press "w/x/a/d" on keyboard, I can see the path will move and show in Rviz, but real TB3 no response (cannot move). |
ISSUE TEMPLATE ver. 0.2.0
Which TurtleBot3 you have?
Which SBC(Single Board Computer) is working on TurtleBot3?
Which OS you installed in SBC?
Which OS you installed in Remote PC?
Write down software version and firmware version
after follow http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#ros2 to build TB3 for ROS2 dashing release, build fail at SBC setup (15.1.2) of Micro-XRCE-DDS-Agent Install Fail, fail log attached at below.
tb3_for_dashing_build_fail.txt
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