# Cannot run teleop\_twist\_keyboard **URL:** \ **Category:** Uncategorized\ **Created:** [February 2, 2023, 2:24am UTC](https://forum.ubiquityrobotics.com/t/cannot-run-teleop-twist-keyboard/1035 "2023-02-02T02:24:12Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![dysqrencia](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/d/cc9497/32.png) [@dysqrencia](https://forum.ubiquityrobotics.com/u/dysqrencia)\ **Post date:** [February 2, 2023, 2:24am UTC](https://forum.ubiquityrobotics.com/t/cannot-run-teleop-twist-keyboard/1035/1 "2023-02-02T02:24:12Z")
Hello, i tried running my magni after installing the new MCB but seems like my magni cannot do teleop\_twist\_keyboard and get “Waiting for subscriber to connect to /cmd\_vel”. Checked rostopic list and there’s /cmd\_vel. I also checked rosnode list and see the motor node. But then I tried running sudo apt upgrade and got this issue which is multipath service. Reading package lists… Done Building dependency tree Reading state information… Done Calculating upgrade… Done The following packages were automatically installed and are no longer required: libxmlb1 python3-rosdistro Use ‘sudo apt autoremove’ to remove them. 0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded. 1 not fully installed or removed. After this operation, 0 B of additional disk space will be used. Do you want to continue? [Y/n] y Setting up multipath-tools (0.8.3-1ubuntu2.1) … Job for multipathd.service failed because the control process exited with error code. See “systemctl status multipathd.service” and “journalctl -xe” for details. invoke-rc.d: initscript multipath-tools, action “start” failed. ● multipathd.service - Device-Mapper Multipath Device Controller Loaded: loaded (/lib/systemd/system/multipathd.service; enabled; vendor preset: enabled) Active: failed (Result: exit-code) since Thu 2023-02-02 10:14:32 +08; 64ms ago TriggeredBy: ● multipathd.socket Process: 9227 ExecStartPre=/sbin/modprobe -a scsi\_dh\_alua scsi\_dh\_emc scsi\_dh\_rdac dm-multipath (code=exited, status=1/FAILURE) Process: 9228 ExecStart=/sbin/multipathd -d -s (code=exited, status=1/FAILURE) Main PID: 9228 (code=exited, status=1/FAILURE) Status: “configure” Feb 02 10:14:32 ubiquityrobot modprobe[9227]: modprobe: WARNING: Module scsi\_dh\_rdac not found in directory /lib/modules/5.4.51-v7l+ Feb 02 10:14:32 ubiquityrobot modprobe[9227]: modprobe: WARNING: Module dm-multipath not found in directory /lib/modules/5.4.51-v7l+ Feb 02 10:14:32 ubiquityrobot multipathd[9228]: --------start up-------- Feb 02 10:14:32 ubiquityrobot multipathd[9228]: read /etc/multipath.conf Feb 02 10:14:32 ubiquityrobot multipathd[9228]: path checkers start up Feb 02 10:14:32 ubiquityrobot multipathd[9228]: DM multipath kernel driver not loaded Feb 02 10:14:32 ubiquityrobot multipathd[9228]: DM multipath kernel driver not loaded Feb 02 10:14:32 ubiquityrobot systemd[1]: multipathd.service: Main process exited, code=exited, status=1/FAILURE Feb 02 10:14:32 ubiquityrobot systemd[1]: multipathd.service: Failed with result ‘exit-code’. Feb 02 10:14:32 ubiquityrobot systemd[1]: Failed to start Device-Mapper Multipath Device Controller. dpkg: error processing package multipath-tools (–configure): installed multipath-tools package post-installation script subprocess returned error exit status 1 Processing triggers for libc-bin (2.31-0ubuntu9.9) … Errors were encountered while processing: multipath-tools E: Sub-process /usr/bin/dpkg returned an error code (1) Does anyone knows how to fix this problem ? Thank you. ---
**Author:** ![MoffKalast](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/moffkalast/32/214_2.png) [@MoffKalast](https://forum.ubiquityrobotics.com/u/MoffKalast)\ **Post date:** [February 2, 2023, 10:50am UTC](https://forum.ubiquityrobotics.com/t/cannot-run-teleop-twist-keyboard/1035/2 "2023-02-02T10:50:23Z")
Hmm it’s possible that the motor node doesn’t crash but posts some errors. You could try doing a `rosnode kill -a` and then start the robot manually with `roslaunch magni_bringup base.launch` which will show you the live logs in the terminal. > [@dysqrencia](#): > > I tried running sudo apt upgrade I really wouldn’t recommend that on any system that’s been running for a while, the longer you go after first boot the larger the chance it just messes something up by upgrading some dependencies to a version that’s no longer compatible with other packages, breaking your install in various _fun_ ways. I’d suggest finding another SD card or do a readback your current install, then test with a fresh base focal image so you can eliminate any problems on the software side until you can confirm that the hardware works. ---
**Author:** ![anfederman](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/anfederman/32/141_2.png) [@anfederman](https://forum.ubiquityrobotics.com/u/anfederman)\ **Post date:** [February 8, 2023, 5:10am UTC](https://forum.ubiquityrobotics.com/t/cannot-run-teleop-twist-keyboard/1035/3 "2023-02-08T05:10:28Z")
Sudo systemctl disable multipath-system Sudo apt remove multipath-tools Sudo apt update Sudo apt upgrade Rosdep update On workstation See if you can Rostopic echo /battery ---
**Author:** ![anfederman](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/anfederman/32/141_2.png) [@anfederman](https://forum.ubiquityrobotics.com/u/anfederman)\ **Post date:** [February 8, 2023, 5:14am UTC](https://forum.ubiquityrobotics.com/t/cannot-run-teleop-twist-keyboard/1035/4 "2023-02-08T05:14:58Z")
If you can’t echo /battery, but can see it in rostopic either you aren’t talking to the mcb or there is a network issue between the workstation and robot. You might want to look in .Ros/ logs or in dmesg to see if you are connecting to the mcb. ---
**Author:** ![mjstn2011](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mjstn2011/32/30_2.png) [@mjstn2011](https://forum.ubiquityrobotics.com/u/mjstn2011)\ **Post date:** [February 12, 2023, 9:22am UTC](https://forum.ubiquityrobotics.com/t/cannot-run-teleop-twist-keyboard/1035/5 "2023-02-12T09:22:16Z")
I think it best to start with basic debug in this case. I am unable to attach the file. Send an email to [support@ubiquityrobotics.com](mailto:support@ubiquityrobotics.com) and in subject say ‘Attention Mark’ I will paste text here instead now which may be a bit of a mess but lets try:j **Diagnostics For MCB & Raspberry Pi Basic Health** **Rev-20220921** This document attempts some step by step troubleshooting to decide of the MCB or the Raspberry Pi is bad. It is critical to be very sure the battery is at 24V or above so this is not just a battery problem. Our main debug info is here: [Verification - Magni Documentation](https://learn.ubiquityrobotics.com/noetic_magni_silver_verification) **The #1 issue we see for failures is batteries have discharged** so the robot starts having different types of problems so please focus on the ‘Evaluating The Batteries Of The Robot’ on above page. **CHECK 0: Verify The MCB Revision And If It Has A recent 2021 Mod** The Raspberry Pi4 was found to need slightly higher voltage. Boards made before 2022 need to have had a modification done for 5.1V battery. See if in black felt pen on the right of the MCB if you see a short note that in it has ‘5.1’. Please report back to us if this is present in any trouble report. **CHECK 1: Verify The 5 Onboard Power Supplies Of the MCB Are Ok** If the 4 closely spaced power supply leds are all on in a bright way and the 3.3V led up high and to the left is also on in a bright way we can say the power supplies on the MCB seem ok. If not, bad MCB. **CHECK 2: Verify The MCB processor is running** If all 5 power leds are nice and bright then we look for the ‘STAT’ led to it’s right of the 4 power supply leds is doing a brief blink to off state then back on every 4 seconds sort of time. If you do not see the STAT led do any blinking briefly off the MCB firmware is damaged or the MCB processor is bad. IF the STAT led does not do it’s blink-offs the MCB is to be replaced. **CHECK 3: Verify The MCB is sending Status To The Raspberry Pi Host** The ‘SOUT’ led near top center of the MCB board must ALWAYS be blinking very fast. If it is not blinking fast you must do more troubleshooting on the next page. **CHECK 4: Verify The Raspberry Pi Is communicating With The MCB Board** The ‘SIN’ led near top center of the MCB board must ALWAYS be blinking very fast once the Raspberry Pi has fully booted up. If you do not see SIN blinking wait 5 minutes just in case it is a very long bootup. If it is not blinking fast you must do more troubleshooting on the next pages.