Couldnt Connect to Master

qawiyyul · July 22, 2021, 5:52am

Whenever I boot up the robot, the above message appears when I try rostopic list. I have to send the command sudo systemctl start magni-base then I can see the rostopics. Even then, the motor_node doesn’t seem to start.

I followed the troubleshooting page and got some log messages.

... logging to /home/ubuntu/.ros/log/40d58b70-eaac-11eb-8121-995c64922b7a/roslaunch-RepublicPower-2236.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://RepublicPower.local:39977/

SUMMARY
========

PARAMETERS
 * /joy_node/autorepeat_rate: 20
 * /joy_node/dev: /dev/input/js0
 * /rosbridge_ws/rosapi/params_glob: [*]
 * /rosbridge_ws/rosapi/services_glob: [*]
 * /rosbridge_ws/rosapi/topics_glob: [*]
 * /rosbridge_ws/rosbridge_websocket/address: 0.0.0.0
 * /rosbridge_ws/rosbridge_websocket/authenticate: False
 * /rosbridge_ws/rosbridge_websocket/bson_only_mode: False
 * /rosbridge_ws/rosbridge_websocket/delay_between_messages: 0
 * /rosbridge_ws/rosbridge_websocket/fragment_timeout: 600
 * /rosbridge_ws/rosbridge_websocket/max_message_size: None
 * /rosbridge_ws/rosbridge_websocket/params_glob: [*]
 * /rosbridge_ws/rosbridge_websocket/port: 9090
 * /rosbridge_ws/rosbridge_websocket/retry_startup_delay: 5
 * /rosbridge_ws/rosbridge_websocket/services_glob: [*]
 * /rosbridge_ws/rosbridge_websocket/topics_glob: [*]
 * /rosbridge_ws/rosbridge_websocket/unregister_timeout: 10
 * /rosbridge_ws/rosbridge_websocket/use_compression: False
 * /rosbridge_ws/rosbridge_websocket/websocket_external_port: None
 * /rosbridge_ws/rosbridge_websocket/websocket_ping_interval: 0
 * /rosbridge_ws/rosbridge_websocket/websocket_ping_timeout: 30
 * /rosbridge_wss/rosapi/params_glob: [*]
 * /rosbridge_wss/rosapi/services_glob: [*]
 * /rosbridge_wss/rosapi/topics_glob: [*]
 * /rosbridge_wss/rosbridge_websocket/address: 0.0.0.0
 * /rosbridge_wss/rosbridge_websocket/authenticate: False
 * /rosbridge_wss/rosbridge_websocket/certfile: /etc/ssl/certs/ss...
 * /rosbridge_wss/rosbridge_websocket/delay_between_messages: 0
 * /rosbridge_wss/rosbridge_websocket/fragment_timeout: 600
 * /rosbridge_wss/rosbridge_websocket/keyfile: /etc/ssl/private/...
 * /rosbridge_wss/rosbridge_websocket/max_message_size: None
 * /rosbridge_wss/rosbridge_websocket/params_glob: [*]
 * /rosbridge_wss/rosbridge_websocket/port: 9443
 * /rosbridge_wss/rosbridge_websocket/retry_startup_delay: 5
 * /rosbridge_wss/rosbridge_websocket/services_glob: [*]
 * /rosbridge_wss/rosbridge_websocket/topics_glob: [*]
 * /rosbridge_wss/rosbridge_websocket/unregister_timeout: 10
 * /rosbridge_wss/rosbridge_websocket/use_compression: False
 * /rosbridge_wss/rosbridge_websocket/websocket_external_port: None
 * /rosbridge_wss/rosbridge_websocket/websocket_null_origin: True
 * /rosbridge_wss/rosbridge_websocket/websocket_ping_interval: 0
 * /rosbridge_wss/rosbridge_websocket/websocket_ping_timeout: 30
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /teleop_twist_joy/axis_angular: 0
 * /teleop_twist_joy/axis_linear: 1
 * /teleop_twist_joy/enable_button: 4
 * /teleop_twist_joy/enable_turbo_button: 6
 * /teleop_twist_joy/scale_angular: 1.0
 * /teleop_twist_joy/scale_linear: 0.3
 * /teleop_twist_joy/scale_linear_turbo: 0.75
 * /ubiquity_robot_mode: teleop

NODES
  /rosbridge_wss/
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)
  /rosbridge_ws/
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)
  /
    joy_node (joy/joy_node)
    magni_launch_core (magni_bringup/launch_core.py)
    teleop_twist_joy (teleop_twist_joy/teleop_node)
    tf2_web_republisher (tf2_web_republisher/tf2_web_republisher)

ROS_MASTER_URI=http://10.42.0.1:11311

process[magni_launch_core-1]: started with pid [2253]
process[joy_node-2]: started with pid [2254]
process[teleop_twist_joy-3]: started with pid [2255]
process[rosbridge_ws/rosbridge_websocket-4]: started with pid [2264]
process[rosbridge_ws/rosapi-5]: started with pid [2279]
process[rosbridge_wss/rosbridge_websocket-6]: started with pid [2285]
[ERROR] [1626931366.957475660]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[rosbridge_wss/rosapi-7]: started with pid [2292]
process[tf2_web_republisher-8]: started with pid [2313]
{'sonars': 'false', 'raspicam': {'position': 'upward'}}
[INFO] [1626931368.275917]: Rosapi started
[INFO] [1626931368.300105]: Rosapi started
2021-07-22 05:22:49+0000 [-] Log opened.
2021-07-22 05:22:49+0000 [-] Log opened.
2021-07-22 05:22:49+0000 [-] registered capabilities (classes):
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.call_service.CallService
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.advertise.Advertise
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.publish.Publish
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.subscribe.Subscribe
2021-07-22 05:22:49+0000 [-]  - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.advertise_service.AdvertiseService
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.service_response.ServiceResponse
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
2021-07-22 05:22:49+0000 [-] registered capabilities (classes):
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.call_service.CallService
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.advertise.Advertise
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.publish.Publish
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.subscribe.Subscribe
2021-07-22 05:22:49+0000 [-]  - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.advertise_service.AdvertiseService
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.service_response.ServiceResponse
2021-07-22 05:22:49+0000 [-]  - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
2021-07-22 05:22:49+0000 [-] WebSocketServerFactory starting on 9090
2021-07-22 05:22:49+0000 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xb4f202b0>
2021-07-22 05:22:49+0000 [-] [INFO] [1626931369.545048]: Rosbridge WebSocket server started at ws://0.0.0.0:9090
2021-07-22 05:22:49+0000 [-] WebSocketServerFactory (TLS) starting on 9443
2021-07-22 05:22:49+0000 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0xb4f3e0b0>
2021-07-22 05:22:49+0000 [-] [INFO] [1626931369.657526]: Rosbridge WebSocket server started at wss://0.0.0.0:9443
we are in AP mode, don't wait for time
... logging to /home/ubuntu/.ros/log/40d58b70-eaac-11eb-8121-995c64922b7a/roslaunch-RepublicPower-2253.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://RepublicPower.local:42981/

SUMMARY
========

PARAMETERS
 * /enable_statistics: True
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /ubiquity_joint_publisher/publish_rate: 50
 * /ubiquity_joint_publisher/type: joint_state_contr...
 * /ubiquity_motor/controller_loop_rate: 20
 * /ubiquity_motor/pid_denominator: 1000
 * /ubiquity_motor/pid_derivative: 0
 * /ubiquity_motor/pid_integral: 0
 * /ubiquity_motor/pid_proportional: 5000
 * /ubiquity_motor/serial_baud: 38400
 * /ubiquity_motor/serial_loop_rate: 200
 * /ubiquity_motor/serial_port: /dev/ttyAMA0
 * /ubiquity_robot_mode: core
 * /ubiquity_velocity_controller/angular/z/has_acceleration_limits: True
 * /ubiquity_velocity_controller/angular/z/has_velocity_limits: False
 * /ubiquity_velocity_controller/angular/z/max_acceleration: 5.0
 * /ubiquity_velocity_controller/angular/z/max_velocity: 2.0
 * /ubiquity_velocity_controller/base_frame_id: base_link
 * /ubiquity_velocity_controller/cmd_vel_timeout: 0.25
 * /ubiquity_velocity_controller/enable_odom_tf: True
 * /ubiquity_velocity_controller/left_wheel: left_wheel_joint
 * /ubiquity_velocity_controller/linear/x/has_acceleration_limits: True
 * /ubiquity_velocity_controller/linear/x/has_velocity_limits: False
 * /ubiquity_velocity_controller/linear/x/max_acceleration: 0.5
 * /ubiquity_velocity_controller/linear/x/max_velocity: 1.0
 * /ubiquity_velocity_controller/pose_covariance_diagonal: [0.2, 0.2, 0.2, 0...
 * /ubiquity_velocity_controller/publish_rate: 50
 * /ubiquity_velocity_controller/right_wheel: right_wheel_joint
 * /ubiquity_velocity_controller/twist_covariance_diagonal: [0.2, 0.2, 0.2, 0...
 * /ubiquity_velocity_controller/type: diff_drive_contro...
 * /ubiquity_velocity_controller/wheel_radius: 0.1015
 * /ubiquity_velocity_controller/wheel_radius_multiplier: 1.0
 * /ubiquity_velocity_controller/wheel_separation: 0.33
 * /ubiquity_velocity_controller/wheel_separation_multiplier: 1.0
 * /use_gui: False

NODES
  /
    controller_spawner (controller_manager/spawner)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    motor_node (ubiquity_motor/motor_node)
    robot_state_publisher (robot_state_publisher/state_publisher)

ROS_MASTER_URI=http://10.42.0.1:11311

process[robot_state_publisher-1]: started with pid [2540]
process[joint_state_publisher-2]: started with pid [2541]
process[controller_spawner-3]: started with pid [2542]
process[motor_node-4]: started with pid [2550]
[ERROR] [1626931376.823147691]: setting deadzone enable to 1
[ERROR] [1626931376.831960691]: GOT error from Firm 0x00

I hope you can help.

edit: I tried adding the rosLog.txt but the forum said too many characters.

qawiyyul · July 22, 2021, 8:33am

I found the sudo systemctl enable magni-base command. I tried running it and rebooting and still doesn’t work. sudo systemctl status magni-base shows the errors

Dependency failed for magni-base.service
magni-base.service: Job magni-base.service/start failed with result 'dependency'.

qawiyyul · July 27, 2021, 2:17am

Okay so I contacted them through email and got a solution so I’ll share it here in case anyone faces the same issue

So the problem arose when I tried to fix the AF_INET error by editing the /etc/hosts file. The problem is that I changed the local host IP from 127.0.0.1 to 10.42.0.1. So the example /etc/hosts file on your robot should look something like this,

127.0.0.1       localhost
::1             localhost ip6-localhost ip6-loopback
ff02::1         ip6-allnodes
ff02::2         ip6-allrouters

127.0.0.1       UbiquityRobot UbiquityRobot.local
<insert your workstation ip>	ubuntu-VirtualBox ubuntu-VirtualBox.local

And your workstation /etc/hosts something like this,

127.0.0.1       localhost
::1             localhost ip6-localhost ip6-loopback
ff02::1         ip6-allnodes
ff02::2         ip6-allrouters

10.42.0.1       UbiquityRobot UbiquityRobot.local
127.0.0.1	ubuntu-VirtualBox ubuntu-VirtualBox.local

Thanks for the assist @rohbotics !

rohbotics · July 27, 2021, 4:55pm

Glad it resolved your issue, and thanks for putting the solution on the forum for future travelers as well