launch robot error

[0jeetparmar0]

ros2 launch rosbot launch_robot.launch.py
[INFO] [launch]: All log files can be found below /home/jeet/.ros/log/2024-06-18-14-58-05-806443-ubuntu22-6000
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [6002]
[INFO] [twist_mux-2]: process started with pid [6004]
[twist_mux-2] [INFO] [1718702886.118779071] [twist_mux]: Topic handler 'topics.joystick' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 100.
[twist_mux-2] [INFO] [1718702886.123074535] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 10.
[twist_mux-2] [INFO] [1718702886.124165176] [twist_mux]: Topic handler 'topics.tracker' subscribed to topic 'cmd_vel_tracker': timeout = 0.500000s , priority = 20.
[robot_state_publisher-1] [INFO] [1718702886.127567378] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1718702886.127791534] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1718702886.127819415] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1718702886.127835261] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1718702886.127854435] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1718702886.127870459] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1718702886.127888492] [robot_state_publisher]: got segment face_link
[robot_state_publisher-1] [INFO] [1718702886.127902558] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1718702886.127917145] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1718702886.127932053] [robot_state_publisher]: got segment right_wheel
[INFO] [ros2_control_node-3]: process started with pid [6090]
[INFO] [spawner-4]: process started with pid [6092]
[INFO] [spawner-5]: process started with pid [6094]
[ros2_control_node-3] [WARN] [1718702890.848513322] [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] [1718702890.849144905] [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/DiffDriveArduino with base class type hardware_interface::SystemInterface does not exist. Declared types are diffdrive_arduino/DiffDriveArduinoHardware fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem turtlebot3_manipulation_hardware/TurtleBot3ManipulationSystemHardware
[ros2_control_node-3] Stack trace (most recent call last):
[ros2_control_node-3] #16 Object "", at 0xffffffffffffffff, in
[ros2_control_node-3] #15 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x6205781ecd84, in
[ros2_control_node-3] #14 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7b29b7429e3f]
[ros2_control_node-3] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7b29b7429d8f]
[ros2_control_node-3] #12 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x6205781ec89e, in
[ros2_control_node-3] #11 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7b29b7e5be79, 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 0x7b29b7e576bf, 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 0x7b29b7abfd9d, 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 0x7b29b7abe1ce, in
[ros2_control_node-3] #7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7b29b7a9f32a, in
[ros2_control_node-3] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b29b78ae4d7, in __cxa_throw
[ros2_control_node-3] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b29b78ae276, in std::terminate()
[ros2_control_node-3] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b29b78ae20b, in
[ros2_control_node-3] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b29b78a2b9d, in
[ros2_control_node-3] #2 Source "./stdlib/abort.c", line 79, in abort [0x7b29b74287f2]
[ros2_control_node-3] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7b29b7442475]
[ros2_control_node-3] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-3] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-3] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7b29b74969fc]
[ros2_control_node-3] Aborted (Signal sent by tkill() 6090 1000)
[ERROR] [ros2_control_node-3]: process has died [pid 6090, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_t4cevb09 --params-file /home/jeet/rosbot_ws/install/rosbot/share/rosbot/config/my_controllers.yaml'].
[spawner-4] [INFO] [1718702893.398696867] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1718702893.399125862] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1718702895.421565927] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1718702895.421695181] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1718702897.444523051] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1718702897.444579570] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1718702899.468090675] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1718702899.468328228] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist

getting this error in launch can some one help me please
thanks and regards

[Abodovic2012]

Foxy humble ? please give some infomration

[0jeetparmar0]

Foxy humble ? please give some infomration

Humble
Using laptop as launch_robot directly without remote connection

[Vifirisya]

I have the same problem. Did you manage to solve it?

[0jeetparmar0]

I have the same problem. Did you manage to solve it?

nope it did not

[toponsky]

Got same issue when ran on my raspberry pi with ubuntu 22.04 server

[0jeetparmar0]

I have the same problem. Did you manage to solve it?

got it working

use diffdrive arduino of buzzology instead of josh
git clone http://github.com/buzzology/diffdrive_arduino
and then cd diffdrive_arduino
git checkout 3883c00

[toponsky]

Cannot build it with my PI 4b, stuck on 71% alway the times

[0jeetparmar0]

Cannot build it with my PI 4b, stuck on 71% alway the times

using foxy or humble?
it worked for me on laptop and pi4 also ,
maybe checkout humble video of josh?

[toponsky]

Thanks @0jeetparmar0
Just checked my pi. it's actually 3b not 4b, so I guess it doesn't powerful enough, even with fan on it. Bought a 5 and on the way. Figures across.

Cannot build it with my PI 4b, stuck on 71% alway the times

using foxy or humble? it worked for me on laptop and pi4 also , maybe checkout humble video of josh?

[0jeetparmar0]

Thanks @0jeetparmar0 Just checked my pi. it's actually 3b not 4b, so I guess it doesn't powerful enough, even with fan on it. Bought a 5 and on the way. Figures across.

Cannot build it with my PI 4b, stuck on 71% alway the times

using foxy or humble? it worked for me on laptop and pi4 also , maybe checkout humble video of josh?

ohkk ohkk ALL THE BEST !!!!

[lizard-electronics]

Hi, I'm having a similar issue in Humble. I'm using diffdrive arduino of buzzology.
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]

[toponsky]

Did you try @0jeetparmar0 's solution, it perfectly works to me.

[lizard-electronics]

Yes. I've cloned the repo and did the checkout for the commit.

[0jeetparmar0]

Yes. I've cloned the repo and did the checkout for the commit.

did you connected the uno to pi using usb ?
try running while connected to uno and motors to uno then run the code?
Good luck!!

[lizard-electronics]

I'm using an ESP32, and the code I ported is available in my repo at https://github.com/lizard-electronics/LizardBot1_ProjectFiles, under 2_Software-Firmware/LizardBot1_ESP32ControlBoard_Firmware_v1.

I used PlatformIO to port the code and program the ESP32, and used a baud rate of 115200. The program I ported is functional after testing with serial_motor_demo, as exemplified in Josh's video. I was able to make ros2_control running in simulation environment in Gazebo, but when following the tutorial for the real robot, that error is shown.

Now I unplugged the ESP32 board from the RPi4B and plugged in my dev laptop where I tested the ros2_control in Gazebo. The error below is being shown:
ros2 launch lizardbot1 launch_robot.launch.py
[INFO] [launch]: All log files can be found below /home/manuel/.ros/log/2024-09-11-15-52-27-112064-LAPTOP-ML-LINUX-11089
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [11091]
[robot_state_publisher-1] [INFO] [1726066347.387637459] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1726066347.387717636] [robot_state_publisher]: got segment camera
[robot_state_publisher-1] [INFO] [1726066347.387727239] [robot_state_publisher]: got segment camera_optical
[robot_state_publisher-1] [INFO] [1726066347.387732906] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1726066347.387738058] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1726066347.387742949] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1726066347.387747845] [robot_state_publisher]: got segment lidar
[robot_state_publisher-1] [INFO] [1726066347.387752649] [robot_state_publisher]: got segment right_wheel
[INFO] [ros2_control_node-2]: process started with pid [11129]
[INFO] [spawner-3]: process started with pid [11131]
[INFO] [spawner-4]: process started with pid [11133]
[ros2_control_node-2] [WARN] [1726066352.367453497] [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] [1726066352.367707891] [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
[ros2_control_node-2] Stack trace (most recent call last):
[ros2_control_node-2] #16 Object "", at 0xffffffffffffffff, in
[ros2_control_node-2] #15 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5a7f3ca7dd84, in
[ros2_control_node-2] #14 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7358ab829e3f]
[ros2_control_node-2] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7358ab829d8f]
[ros2_control_node-2] #12 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5a7f3ca7d89e, in
[ros2_control_node-2] #11 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7358ac19fe79, 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-2] #10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7358ac19b6bf, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-2] #9 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7358abbc0d9d, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ros2_control_node-2] #8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7358abbbf1ce, in
[ros2_control_node-2] #7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7358abba032a, in
[ros2_control_node-2] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7358abcae4d7, in __cxa_throw
[ros2_control_node-2] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7358abcae276, in std::terminate()
[ros2_control_node-2] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7358abcae20b, in
[ros2_control_node-2] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7358abca2b9d, in
[ros2_control_node-2] #2 Source "./stdlib/abort.c", line 79, in abort [0x7358ab8287f2]
[ros2_control_node-2] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7358ab842475]
[ros2_control_node-2] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-2] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-2] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7358ab8969fc]
[ros2_control_node-2] Aborted (Signal sent by tkill() 11129 1000)
[ERROR] [ros2_control_node-2]: process has died [pid 11129, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_jmu_wumq --params-file /home/manuel/robot_ws/install/lizardbot1/share/lizardbot1/config/my_controllers.yaml'].
[spawner-3] [INFO] [1726066355.051128953] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1726066355.051881427] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1726066357.073598131] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1726066357.075280870] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1726066359.097113991] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1726066359.097122814] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1726066361.120040930] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1726066361.120780937] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-4] [ERROR] [1726066363.142986300] [spawner_diff_cont]: Controller manager not available
[spawner-3] [ERROR] [1726066363.142998356] [spawner_joint_broad]: Controller manager not available
[ERROR] [spawner-3]: process has died [pid 11131, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_broad --ros-args'].
[ERROR] [spawner-4]: process has died [pid 11133, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diff_cont --ros-args'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1726066366.830451287] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 11091]