Hello, I was trying to run “roslaunch stretch_demos hello_world.launch” and got the error below.
I switched out the gripper with marker holder, calibrated the robot by using “stretch_robot_home.py”, checked everything by using “stretch_robot_system_check.py” and ran “pip install -U hello-robot-stretch-tool-share”. I thought it was weird getting the error so I tried doing Perception from Basic Tutorial which I know worked and have ran successfully multiple times before. But when I ran “roslaunch stretch_core d435i_low_resolution.launch” after running “roslaunch stretch_core stretch_driver.launch” in a different window, I got the error below. Any idea what could be causing this error?
I have copied and pasted all the lines below in case it helps.
First when I ran “roslaunch stretch_demos hello_world.launch”
Output
roslaunch stretch_demos hello_world.launch
... logging to /home/hello-robot/.ros/log/ff8b1ca6-dd76-11ed-b3c2-23f0e184acc6/roslaunch-stretch-re2-2013-4298.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://10.157.133.236:37539/
SUMMARY
========
PARAMETERS
* /aggregator_node/analyzers/hardware/analyzers/Arm/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Arm/path: Arm
* /aggregator_node/analyzers/hardware/analyzers/Arm/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Base/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Base/path: Base
* /aggregator_node/analyzers/hardware/analyzers/Base/type: diagnostic_aggreg...
* /aggregator_nde/analyzers/hardware/analyzers/EndOfArm/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/EndOfArm/path: EndOfArm
* /aggregator_node/analyzers/hardware/analyzers/EndOfArm/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Head/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Head/path: Head
* /aggregator_node/analyzers/hardware/analyzers/Head/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Lift/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Lift/path: Lift
* /aggregator_node/analyzers/hardware/analyzers/Lift/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Pimu/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Pimu/path: Pimu
* /aggregator_node/analyzers/hardware/analyzers/Pimu/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/analyzers/Wacc/find_and_remove_prefix: ['stretch_driver:...
* /aggregator_node/analyzers/hardware/analyzers/Wacc/path: Wacc
* /aggregator_node/analyzers/hardware/analyzers/Wacc/type: diagnostic_aggreg...
* /aggregator_node/analyzers/hardware/path: Hardware
* /aggregator_node/analyzers/hardware/type: diagnostic_aggreg...
* /aggregator_node/path: Stretch
* /aggregator_node/type: diagnostic_aggreg...
* /camera/realsense2_camera/accel_fps: 63
* /camera/realsense2_camera/accel_frame_id: camera_accel_frame
* /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
* /camera/realsense2_camera/align_depth: True
* /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/allow_no_texture_points: True
* /camera/realsense2_camera/base_frame_id: camera_link
* /camera/realsense2_camera/calib_odom_file:
* /camera/realsense2_camera/clip_distance: -2.0
* /camera/realsense2_camera/color_fps: 15
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: 240
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: 424
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: 15
* /camera/realsense2_camera/depth_frame_id: camera_depth_frame
* /camera/realsense2_camera/depth_height: 240
* /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
* /camera/realsense2_camera/depth_width: 424
* /camera/realsense2_camera/device_type:
* /camera/realsense2_camera/enable_accel: True
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: False
* /camera/realsense2_camera/enable_infra2: False
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: True
* /camera/realsense2_camera/filters: pointcloud
* /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
* /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
* /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
* /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
* /camera/realsense2_camera/fisheye_fps: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: 200
* /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
* /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
* /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
* /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
* /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
* /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
* /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
* /camera/realsense2_camera/infra_fps: 30
* /camera/realsense2_camera/infra_height: 480
* /camera/realsense2_camera/infra_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /camera/realsense2_camera/initial_reset: True
* /camera/realsense2_camera/json_file_path: /home/hello-robot...
* /camera/realsense2_camera/linear_accel_cov: 0.01
* /camera/realsense2_camera/odom_frame_id: camera_odom_frame
* /camera/realsense2_camera/ordered_pc: False
* /camera/realsense2_camera/pointcloud_texture_index: 0
* /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /camera/realsense2_camera/pose_frame_id: camera_pose_frame
* /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
* /camera/realsense2_camera/publish_odom_tf: True
* /camera/realsense2_camera/publish_tf: True
* /camera/realsense2_camera/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /camera/realsense2_camera/tf_publish_rate: 0.0
* /camera/realsense2_camera/topic_odom_in: odom_in
* /camera/realsense2_camera/unite_imu_method:
* /camera/realsense2_camera/usb_port_id:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /d435i_configure/initial_mode: High Accuracy
* /funmap/debug_directory: /home/hello-robot...
* /hello_world/debug_directory: /home/hello-robot...
* /joint_state_publisher/rate: 15.0
* /joint_state_publisher/source_list: ['/stretch/joint_...
* /laser_filter/scan_filter_chain: [{'name': 'shadow...
* /laser_scan_matcher_node/fixed_frame: odom
* /laser_scan_matcher_node/max_angular_correction_deg: 20.0
* /laser_scan_matcher_node/max_iterations: 10
* /laser_scan_matcher_node/max_linear_correction: 0.2
* /laser_scan_matcher_node/use_imu: False
* /lidar_node/angle_compensate: True
* /lidar_node/frame_id: laser
* /lidar_node/inverted: False
* /lidar_node/scan_mode: Boost
* /lidar_node/serial_baudrate: 115200
* /lidar_node/serial_port: /dev/hello-lrf
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 15.0
* /rosdistro: noetic
* /rosversion: 1.15.15
* /stretch_driver/broadcast_odom_tf: False
* /stretch_driver/controller_calibration_file: /home/hello-robot...
* /stretch_driver/fail_out_of_range_goal: False
* /stretch_driver/rate: 15.0
* /stretch_driver/timeout: 0.5
NODES
aggregator_node (diagnostic_aggregator/aggregator_node)
d435i_accel_correction (stretch_core/d435i_accel_correction)
d435i_configure (stretch_core/d435i_configure)
funmap (stretch_funmap/funmap)
hello_world (stretch_demos/hello_world)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
keyboard_teleop (stretch_core/keyboard_teleop)
laser_filter (laser_filters/scan_to_scan_filter_chain)
laser_scan_matcher_node (laser_scan_matcher/laser_scan_matcher_node)
lidar_node (rplidar_ros/rplidarNode)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
stretch_driver (stretch_core/stretch_driver)
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
ROS_MASTER_URI=http://10.157.133.236:11311/
process[d435i_accel_correction-1]: started with pid [4319]
process[camera/realsense2_camera_manager-2]: started with pid [4320]
process[camera/realsense2_camera-3]: started with pid [4321]
process[d435i_configure-4]: started with pid [4322]
process[joint_state_publisher-5]: started with pid [4324]
process[robot_state_publisher-6]: started with pid [4329]
process[stretch_driver-7]: started with pid [4330]
process[aggregator_node-8]: started with pid [4331]
[ INFO] [1681773878.560719607]: Initializing nodelet with 8 worker threads.
process[funmap-9]: started with pid [4348]
process[lidar_node-10]: started with pid [4352]
[ WARN] [1681773878.591494718]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
process[laser_filter-11]: started with pid [4362]
[ INFO] [1681773878.604650854]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.0.0
process[laser_scan_matcher_node-12]: started with pid [4372]
process[hello_world-13]: started with pid [4375]
process[keyboard_teleop-14]: started with pid [4387]
[ INFO] [1681773878.652320623]: RPLIDAR S/N: 52F6ED93C0EA98C6A5E698F2C7284666
[ INFO] [1681773878.652362504]: Firmware Ver: 1.29
[ INFO] [1681773878.652376896]: Hardware Rev: 7
[ INFO] [1681773878.685570219]: Starting LaserScanMatcher
[ INFO] [1681773878.703563266]: RPLidar health status : OK.
[ERROR] [1681773878.740738649]: Failed to load nodelet [/camera/realsense2_camera] of type [realsense2_camera/RealSenseNodeFactory] even after refreshing the cache: Failed to load library /home/hello-robot/catkin_ws/devel/lib//librealsense2_camera.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = librealsense2.so.2.51: cannot open shared object file: No such file or directory)
[ERROR] [1681773878.740789512]: The error before refreshing the cache was: Failed to load library /home/hello-robot/catkin_ws/devel/lib//librealsense2_camera.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = librealsense2.so.2.51: cannot open shared object file: No such file or directory)
[FATAL] [1681773878.740910821]: Failed to load nodelet '/camera/realsense2_camera` of type `realsense2_camera/RealSenseNodeFactory` to manager `realsense2_camera_manager'
[camera/realsense2_camera-3] process has died [pid 4321, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load realsense2_camera/RealSenseNodeFactory realsense2_camera_manager __name:=realsense2_camera __log:=/home/hello-robot/.ros/log/ff8b1ca6-dd76-11ed-b3c2-23f0e184acc6/camera-realsense2_camera-3.log].
log file: /home/hello-robot/.ros/log/ff8b1ca6-dd76-11ed-b3c2-23f0e184acc6/camera-realsense2_camera-3*.log
[ INFO] [1681773879.018918589]: current scan mode: Boost, sample rate: 8 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz,
[INFO] [1681773879.072971]: /d435i_accel_correction started
[INFO] [1681773879.312386]: /keyboard_teleop started
[INFO] [rospy.topics]: topicmanager initialized
[INFO] [1681773879.866789]: For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc.
[INFO] [1681773879.867819]: /stretch_driver started
MoveBase __init__: self.debug_directory = None
MaxHeightImage information:
image.shape = (67, 25)
image.dtype = uint8
m_per_pix = 0.006
m_per_height_unit = 0.00027667984189723324
voi.x_in_m = 0.15
voi.y_in_m = 0.4
voi.z_in_m = 0.07
MaxHeightImage information:
image.shape = (434, 350)
image.dtype = uint8
m_per_pix = 0.006
m_per_height_unit = 0.004566929133858267
voi.x_in_m = 2.1
voi.y_in_m = 2.6
voi.z_in_m = 1.16
DynamixelHelloXL430 Ping failed... stretch_gripper
[INFO] [1681773880.347891]: /hello_world started
[INFO] [1681773880.427154]: mode = position
[INFO] [1681773880.431117]: /stretch_driver: Changed to mode = position
[INFO] [1681773880.436706]: broadcast_odom_tf = False
[INFO] [1681773880.441975]: Loading controller calibration parameters for the head from YAML file named /home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/config/controller_calibration_head.yaml
[INFO] [1681773880.447929]: controller parameters loaded = {'arm_retracted_offset': 0.0032103914147080708, 'pan_angle_offset': 0.03188781113779685, 'pan_looked_left_offset': -0.0019369451387574305, 'tilt_angle_backlash_transition': -0.4, 'tilt_angle_offset': 0.025338214818872926, 'tilt_looking_up_offset': -0.04401953681500859}
[INFO] [1681773880.452139]: head_tilt_calibrated_offset_rad in degrees = 1.4517727695172582
[INFO] [1681773880.457977]: head_pan_calibrated_offset_rad in degrees = 1.827036996106019
[INFO] [1681773880.461866]: head_pan_calibrated_looked_left_offset_rad in degrees = -0.11097878159918238
[INFO] [1681773880.466364]: head_tilt_backlash_transition_angle_rad in degrees = -22.918311805232932
[INFO] [1681773880.470179]: head_tilt_calibrated_looking_up_offset_rad in degrees = -2.5221336756207426
[INFO] [1681773880.473644]: arm_calibrated_retracted_offset_m in meters = 0.0032103914147080708
[INFO] [1681773880.503085]: /stretch_driver rate = 15.0 Hz
[INFO] [1681773880.506623]: /stretch_driver timeout = 0.5 s
[INFO] [1681773880.510336]: /stretch_driver use_fake_mechaduinos = False
[INFO] [1681773880.512476]: /stretch_driver base_frame_id = base_link
[INFO] [1681773880.514892]: /stretch_driver odom_frame_id = odom
[INFO] [1681773880.647167]: Node /keyboard_teleop connected to /stop_the_robot service.
[INFO] [1681773880.649565]: Node /keyboard_teleop waiting to connect to /funmap/trigger_head_scan.
[INFO] [1681773880.651558]: Node /hello_world connected to /stop_the_robot service.
[INFO] [1681773880.785706]: /funmap started
[INFO] [1681773880.830383]: Node /funmap connected to /stop_the_robot service.
Node funmap waiting to receive first point cloud.
[INFO] [1681773882.791467]: /d435i_configure started
Waiting for service /camera/stereo_module/set_parameters...
