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put-husky

Jan 11 10:04:12 cpr-a200-0692 xsens-start[734]: <14>Jan 11 10:04:12 root: xsens: Using workspace setup file /etc/ros/setup.bash
Jan 11 10:04:12 cpr-a200-0692 root[734]: xsens: Using workspace setup file /etc/ros/setup.bash
Jan 11 10:04:12 cpr-a200-0692 root[728]: ros: Using workspace setup file /etc/ros/setup.bash
Jan 11 10:04:12 cpr-a200-0692 ros-start[728]: <14>Jan 11 10:04:12 root: ros: Using workspace setup file /etc/ros/setup.bash
Jan 11 10:04:15 cpr-a200-0692 root[1246]: ros: Launching ROS_HOSTNAME=cpr-a200-0692, ROS_IP=, ROS_MASTER_URI=, ROS_HOME=/home/administrator/.ros, ROS_LOG_DIR=/tmp
Jan 11 10:04:15 cpr-a200-0692 ros-start[1246]: <14>Jan 11 10:04:15 root: ros: Launching ROS_HOSTNAME=cpr-a200-0692, ROS_IP=, ROS_MASTER_URI=, ROS_HOME=/home/administrator/.ros, ROS_LOG_DIR=/tmp
Jan 11 10:04:15 cpr-a200-0692 root[1253]: xsens: Launching ROS_HOSTNAME=cpr-a200-0692, ROS_IP=, ROS_MASTER_URI=, ROS_HOME=/home/administrator/.ros, ROS_LOG_DIR=/tmp
Jan 11 10:04:15 cpr-a200-0692 xsens-start[1253]: <14>Jan 11 10:04:15 root: xsens: Launching ROS_HOSTNAME=cpr-a200-0692, ROS_IP=, ROS_MASTER_URI=, ROS_HOME=/home/administrator/.ros, ROS_LOG_DIR=/tmp
Jan 11 10:04:15 cpr-a200-0692 xsens-start[1276]: ls: cannot access ‘/etc/ros/foxy/xsens.d/.xacro’: No such file or directory
Jan 11 10:04:15 cpr-a200-0692 ros-start[1278]: ls: cannot access ‘/etc/ros/foxy/ros.d/.xacro’: No such file or directory
Jan 11 10:04:15 cpr-a200-0692 root[1287]: xsens: Started ros2 launch as background process, PID 1286, ROS_LOG_DIR=/tmp
Jan 11 10:04:15 cpr-a200-0692 xsens-start[1287]: <14>Jan 11 10:04:15 root: xsens: Started ros2 launch as background process, PID 1286, ROS_LOG_DIR=/tmp
Jan 11 10:04:16 cpr-a200-0692 root[1290]: ros: Generated launchfile: /tmp/ros.launch.py
Jan 11 10:04:16 cpr-a200-0692 ros-start[1290]: <14>Jan 11 10:04:16 root: ros: Generated launchfile: /tmp/ros.launch.py
Jan 11 10:04:16 cpr-a200-0692 root[1293]: ros: Started ros2 launch as background process, PID 1292, ROS_LOG_DIR=/tmp
Jan 11 10:04:16 cpr-a200-0692 ros-start[1293]: <14>Jan 11 10:04:16 root: ros: Started ros2 launch as background process, PID 1292, ROS_LOG_DIR=/tmp
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [INFO] [launch]: All log files can be found below /tmp/2023-01-11-10-04-16-523105-cpr-a200-0692-1292
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [INFO] [launch]: Default logging verbosity is set to INFO
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [INFO] [robot_state_publisher-1]: process started with pid [1364]
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [INFO] [joy_node-2]: process started with pid [1366]
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [INFO] [teleop_node-3]: process started with pid [1369]
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Parsing robot urdf xml string.
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link base_footprint had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link frame_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link front_bumper_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link front_left_wheel had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link front_right_wheel had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link gps_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link imu_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link inertial_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link rear_bumper_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link rear_left_wheel had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link rear_right_wheel had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link top_chassis_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link top_plate_link had 2 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link top_plate_front_link had 2 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link dumb_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link xsens_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link top_plate_rear_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] Link user_rail_link had 0 children
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943631478] [robot_state_publisher]: got segment base_footprint
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943785169] [robot_state_publisher]: got segment base_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943807674] [robot_state_publisher]: got segment dumb_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943818557] [robot_state_publisher]: got segment frame_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943828036] [robot_state_publisher]: got segment front_bumper_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943837739] [robot_state_publisher]: got segment front_left_wheel
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943903657] [robot_state_publisher]: got segment front_right_wheel
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943917667] [robot_state_publisher]: got segment gps_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943927306] [robot_state_publisher]: got segment imu_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943936610] [robot_state_publisher]: got segment inertial_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943946332] [robot_state_publisher]: got segment rear_bumper_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943956197] [robot_state_publisher]: got segment rear_left_wheel
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943965290] [robot_state_publisher]: got segment rear_right_wheel
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943974222] [robot_state_publisher]: got segment top_chassis_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943983057] [robot_state_publisher]: got segment top_plate_front_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.943992277] [robot_state_publisher]: got segment top_plate_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.944001574] [robot_state_publisher]: got segment top_plate_rear_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.944011303] [robot_state_publisher]: got segment user_rail_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [robot_state_publisher-1] [INFO] [1673427856.944020508] [robot_state_publisher]: got segment xsens_link
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [teleop_node-3] [INFO] [1673427856.947040015] [TeleopTwistJoy]: Teleop enable button 4.
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [teleop_node-3] [INFO] [1673427856.947451788] [TeleopTwistJoy]: Turbo on button 5.
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [teleop_node-3] [INFO] [1673427856.947465227] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.400000.
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [teleop_node-3] [INFO] [1673427856.947478770] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.000000.
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [teleop_node-3] [INFO] [1673427856.947487704] [TeleopTwistJoy]: Angular axis yaw on 0 at scale 0.600000.
Jan 11 10:04:16 cpr-a200-0692 ros-start[1292]: [teleop_node-3] [INFO] [1673427856.947495370] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.200000.
Jan 11 10:04:17 cpr-a200-0692 ros-start[1292]: [joy_node-2] [INFO] [1673427857.801280655] [joy_teleop.joy_node]: Opened joystick: Logitech Gamepad F710. deadzone: 0.100000
Jan 11 10:04:21 cpr-a200-0692 ros-start[1292]: [INFO] [ros2_control_node-4]: process started with pid [1698]
Jan 11 10:04:21 cpr-a200-0692 ros-start[1292]: [INFO] [spawner.py-5]: process started with pid [1700]
Jan 11 10:04:21 cpr-a200-0692 ros-start[1292]: [INFO] [spawner.py-6]: process started with pid [1702]
Jan 11 10:04:21 cpr-a200-0692 ros-start[1292]: [INFO] [ekf_node-7]: process started with pid [1704]
Jan 11 10:04:21 cpr-a200-0692 ros-start[1292]: [INFO] [imu_filter_madgwick_node-8]: process started with pid [1706]
Jan 11 10:04:21 cpr-a200-0692 ros-start[1292]: [INFO] [marker_server-9]: process started with pid [1708]
Jan 11 10:04:21 cpr-a200-0692 ros-start[1292]: [INFO] [twist_mux-10]: process started with pid [1710]
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [imu_filter_madgwick_node-8] [INFO] [1673427862.022355028] [imu_filter]: Starting ImuFilter
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [imu_filter_madgwick_node-8] [INFO] [1673427862.022736033] [imu_filter]: Using dt computed from message headers
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [imu_filter_madgwick_node-8] [INFO] [1673427862.022761502] [imu_filter]: The gravity vector is kept in the IMU message.
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [imu_filter_madgwick_node-8] [INFO] [1673427862.022820802] [imu_filter]: Imu filter gain set to 0.100000
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [imu_filter_madgwick_node-8] [INFO] [1673427862.022845071] [imu_filter]: Gyro drift bias set to 0.000000
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [imu_filter_madgwick_node-8] [INFO] [1673427862.022857282] [imu_filter]: Magnetometer bias values: 0.000000 0.000000 0.000000
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [marker_server-9] [INFO] [1673427862.056201958] [twist_server_node]: [interactive_marker_twist_server] Initialized.
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [twist_mux-10] [INFO] [1673427862.067072379] [twist_mux]: Topic handler ‘topics.external’ subscribed to topic ‘cmd_vel’: timeout = 0.500000s , priority = 1.
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [twist_mux-10] [INFO] [1673427862.068800141] [twist_mux]: Topic handler ‘topics.interactive_marker’ subscribed to topic ‘twist_marker_server/cmd_vel’: timeout = 0.500000s , priority = 8.
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [twist_mux-10] [INFO] [1673427862.070186785] [twist_mux]: Topic handler ‘topics.joy’ subscribed to topic ‘joy_teleop/cmd_vel’: timeout = 0.500000s , priority = 10.
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [twist_mux-10] [INFO] [1673427862.071426473] [twist_mux]: Topic handler ‘locks.e_stop’ subs
cribed to topic ‘e_stop’: timeout = None , priority = 255. Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.127123189] [HuskyHardware]: Name: husky_hardware
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.127174999] [HuskyHardware]: Number of Joints 4
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.127252675] [HuskyHardware]: Port: /dev/prolific
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.166653415] [HuskyHardware]: Starting …please wait…
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.166688740] [HuskyHardware]: System Successfully started!
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.182017284] [controller_manager]: update rate is 10 Hz
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [spawner.py-5] [INFO] [1673427862.280387634] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [spawner.py-6] [INFO] [1673427862.281360384] [spawner_husky_velocity_controller]: Waiting for /controller_manager services
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.493926808] [controller_manager]: Loading controller ‘husky_velocity_controller’
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.605913842] [controller_manager]: Loading controller ‘joint_state_broadcaster’
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [spawner.py-6] [INFO] [1673427862.607754485] [spawner_husky_velocity_controller]: Loaded husky_velocity_controller
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.704730084] [controller_manager]: Configuring controller ‘husky_velocity_controller’
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [spawner.py-5] [INFO] [1673427862.706860777] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [ros2_control_node-4] [INFO] [1673427862.711219007] [controller_manager]: Configuring controller ‘joint_state_broadcaster’
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [spawner.py-6] [INFO] [1673427862.905254484] [spawner_husky_velocity_controller]: Configured and started husky_velocity_controller
Jan 11 10:04:22 cpr-a200-0692 ros-start[1292]: [INFO] [spawner.py-6]: process has finished cleanly [pid 1702]
Jan 11 10:04:23 cpr-a200-0692 ros-start[1292]: [spawner.py-5] [INFO] [1673427863.113758809] [spawner_joint_state_broadcaster]: Configured and started joint_state_broadcaster
Jan 11 10:04:23 cpr-a200-0692 ros-start[1292]: [INFO] [spawner.py-5]: process has finished cleanly [pid 1700]
Jan 11 10:04:32 cpr-a200-0692 ros-start[1292]: [imu_filter_madgwick_node-8] [WARN] [1673427872.041315991] [imu_filter]: Still waiting for data on topic /imu/data_raw…
Jan 11 10:04:42 cpr-a200-0692 ros-start[1292]: [imu_filter_madgwick_node-8] [WARN] [1673427882.041378155] [imu_filter]: Still waiting for data on topic /imu/data_raw…
Jan 11 10:04:49 cpr-a200-0692 ros-start[1292]: [imu_filter_madgwick_node-8] [INFO] [1673427889.598521272] [imu_filter]: First IMU message received.