ros2_canopen not working locally on Jetson AGX Orin #382
Description
Describe the bug
There is a problem with the thread event loop/timers when starting up the canopen_base_driver in Jetson AGX Orin. We also tried RPi 4 and 5 with the same result.
The same project works fine in an x86 system.
Logs
groundhog@ubuntu:~/ros_ws$ ros2 launch groundhog_bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /home/groundhog/.ros/log/2025-09-17-11-36-56-873894-ubuntu-35017
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rmw_zenohd-1]: process started with pid [35019]
[INFO] [robot_state_publisher-2]: process started with pid [35021]
[INFO] [ros2_control_node-3]: process started with pid [35023]
[INFO] [spawner-4]: process started with pid [35025]
[INFO] [teleop_node-5]: process started with pid [35027]
[INFO] [twist_mux-6]: process started with pid [35029]
[INFO] [twist_stamped_parser-7]: process started with pid [35031]
[twist_mux-6] [INFO] [1758073017.206779993] [twist_mux]: Topic handler 'topics.joy' subscribed to topic '/zhetronic_rc/cmd_vel': timeout = 0.500000s , priority = 100.
[teleop_node-5] [INFO] [1758073017.208132033] [TeleopTwistJoy]: Teleop enable button 0.
[twist_mux-6] [INFO] [1758073017.208676055] [twist_mux]: Topic handler 'topics.nav' subscribed to topic '/nav/cmd_vel': timeout = 0.500000s , priority = 10.
[twist_mux-6] [INFO] [1758073017.208899027] [twist_mux]: Topic handler 'locks.estop' subscribed to topic '/zhetronic_rc/estop_state': timeout = None , priority = 255.
[teleop_node-5] [INFO] [1758073017.210391000] [TeleopTwistJoy]: Turbo on button 1.
[teleop_node-5] [INFO] [1758073017.210412120] [TeleopTwistJoy]: Linear axis x on 0 at scale 0.500000.
[teleop_node-5] [INFO] [1758073017.210423288] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.000000.
[teleop_node-5] [INFO] [1758073017.210428696] [TeleopTwistJoy]: Linear axis y on 1 at scale 0.500000.
[teleop_node-5] [INFO] [1758073017.210432983] [TeleopTwistJoy]: Turbo for linear axis y is scale 1.000000.
[teleop_node-5] [INFO] [1758073017.210438967] [TeleopTwistJoy]: Angular axis yaw on 2 at scale 0.400000.
[teleop_node-5] [INFO] [1758073017.210443671] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.000000.
[ros2_control_node-3] [INFO] [1758073017.245606493] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-3] [INFO] [1758073017.246918118] [controller_manager]: update rate is 200 Hz
[ros2_control_node-3] [INFO] [1758073017.246980612] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-3] [WARN] [1758073017.247170337] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[robot_state_publisher-2] [WARN] [1758073017.266531172] [kdl_parser]: 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.
[robot_state_publisher-2] [INFO] [1758073017.266724416] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1758073017.266820063] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1758073017.266834270] [robot_state_publisher]: got segment fl_steer_link
[robot_state_publisher-2] [INFO] [1758073017.266843006] [robot_state_publisher]: got segment fl_wheel_link
[robot_state_publisher-2] [INFO] [1758073017.266850398] [robot_state_publisher]: got segment fr_steer_link
[robot_state_publisher-2] [INFO] [1758073017.266858046] [robot_state_publisher]: got segment fr_wheel_link
[robot_state_publisher-2] [INFO] [1758073017.266865118] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-2] [INFO] [1758073017.266871934] [robot_state_publisher]: got segment os_sensor
[robot_state_publisher-2] [INFO] [1758073017.266879102] [robot_state_publisher]: got segment rl_steer_link
[robot_state_publisher-2] [INFO] [1758073017.266886141] [robot_state_publisher]: got segment rl_wheel_link
[robot_state_publisher-2] [INFO] [1758073017.266892989] [robot_state_publisher]: got segment rr_steer_link
[robot_state_publisher-2] [INFO] [1758073017.266899485] [robot_state_publisher]: got segment rr_wheel_link
[robot_state_publisher-2] [INFO] [1758073017.266906045] [robot_state_publisher]: got segment zhetronic_link
[ros2_control_node-3] [INFO] [1758073017.267479507] [controller_manager]: Received robot description file.
[ros2_control_node-3] [INFO] [1758073017.267857996] [resource_manager]: Loading hardware 'groundhog'
[ros2_control_node-3] [INFO] [1758073017.286898549] [resource_manager]: Initialize hardware 'groundhog'
[ros2_control_node-3] [INFO] [1758073017.287254286] [groundhog_interface]: Registering hardware interface 'groundhog'
[ros2_control_node-3] [INFO] [1758073017.287319661] [groundhog_interface]: 'groundhog' has bus config: '/home/groundhog/ros_ws/install/groundhog_bringup/share/groundhog_bringup/config/bus_one/bus.yml'
[ros2_control_node-3] [INFO] [1758073017.287330061] [groundhog_interface]: 'groundhog' has master config: '/home/groundhog/ros_ws/install/groundhog_bringup/share/groundhog_bringup/config/bus_one/master.dcf'
[ros2_control_node-3] [INFO] [1758073017.287342733] [groundhog_interface]: 'groundhog' has master bin: ''
[ros2_control_node-3] [INFO] [1758073017.287349452] [groundhog_interface]: 'groundhog' has can interface: 'can0'
[ros2_control_node-3] [INFO] [1758073017.291837276] [fl_drive_joint]: Node id for 'fl_drive_joint' is '21'
[ros2_control_node-3] [INFO] [1758073017.291900890] [fl_drive_joint]: fl_drive_joint, registered in 'velocity' mode
[ros2_control_node-3] [INFO] [1758073017.292583502] [fl_steer_joint]: Node id for 'fl_steer_joint' is '22'
[ros2_control_node-3] [INFO] [1758073017.292606158] [fl_steer_joint]: fl_steer_joint, registered in 'velocity' mode
[ros2_control_node-3] [INFO] [1758073017.293186051] [fr_drive_joint]: Node id for 'fr_drive_joint' is '23'
[ros2_control_node-3] [INFO] [1758073017.293209571] [fr_drive_joint]: fr_drive_joint, registered in 'velocity' mode
[ros2_control_node-3] [INFO] [1758073017.293754457] [fr_steer_joint]: Node id for 'fr_steer_joint' is '24'
[ros2_control_node-3] [INFO] [1758073017.293773817] [fr_steer_joint]: fr_steer_joint, registered in 'velocity' mode
[ros2_control_node-3] [INFO] [1758073017.294304079] [rl_drive_joint]: Node id for 'rl_drive_joint' is '25'
[ros2_control_node-3] [INFO] [1758073017.294325039] [rl_drive_joint]: rl_drive_joint, registered in 'velocity' mode
[ros2_control_node-3] [INFO] [1758073017.294865029] [rl_steer_joint]: Node id for 'rl_steer_joint' is '26'
[ros2_control_node-3] [INFO] [1758073017.294883461] [rl_steer_joint]: rl_steer_joint, registered in 'velocity' mode
[ros2_control_node-3] [INFO] [1758073017.295412123] [rr_drive_joint]: Node id for 'rr_drive_joint' is '27'
[ros2_control_node-3] [INFO] [1758073017.295433499] [rr_drive_joint]: rr_drive_joint, registered in 'velocity' mode
[ros2_control_node-3] [INFO] [1758073017.295970481] [rr_steer_joint]: Node id for 'rr_steer_joint' is '28'
[ros2_control_node-3] [INFO] [1758073017.295988657] [rr_steer_joint]: rr_steer_joint, registered in 'velocity' mode
[ros2_control_node-3] [INFO] [1758073017.296294859] [resource_manager]: Successful initialization of hardware 'groundhog'
[ros2_control_node-3] [INFO] [1758073017.296672740] [resource_manager]: 'configure' hardware 'groundhog'
[ros2_control_node-3] [INFO] [1758073017.302620089] [device_container]: Starting Device Container with:
[ros2_control_node-3] [INFO] [1758073017.302715799] [device_container]: can_interface_name can0
[ros2_control_node-3] [INFO] [1758073017.302735863] [device_container]: master_config /home/groundhog/ros_ws/install/groundhog_bringup/share/groundhog_bringup/config/bus_one/master.dcf
[ros2_control_node-3] [INFO] [1758073017.302748567] [device_container]: bus_config /home/groundhog/ros_ws/install/groundhog_bringup/share/groundhog_bringup/config/bus_one/bus.yml
[ros2_control_node-3] [INFO] [1758073017.305819871] [device_container]: Loading Master Configuration.
[ros2_control_node-3] [INFO] [1758073017.306269431] [yaml-cpp]: Failed to load entry "namespace" for device "master"
[ros2_control_node-3] [INFO] [1758073017.307090184] [device_container]: Load Library: /home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so
[ros2_control_node-3] [INFO] [1758073017.310881060] [device_container]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[ros2_control_node-3] [INFO] [1758073017.310928003] [device_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::MasterDriver>
[ros2_control_node-3] [WARN] [1758073017.311088384] [device_container]: Namespace not provided for node 'master', using container namespace: /
[ros2_control_node-3] [INFO] [1758073017.313821071] [master]: NodeCanopenBasicMaster
[ros2_control_node-3] [INFO] [1758073017.314061131] [device_container]: Load master component.
[ros2_control_node-3] [INFO] [1758073017.314327462] [device_container]: Added /master to executor
[ros2_control_node-3] [WARN] [1758073017.316983670] [master]: No timeout parameter found in config file. Using default value of 100ms.
[ros2_control_node-3] [INFO] [1758073017.317054133] [master]: Master boot timeout set to 2000ms.
[ros2_control_node-3] [INFO] [1758073017.343849714] [device_container]: Loading Driver Configuration.
[ros2_control_node-3] [INFO] [1758073017.344098093] [yaml-cpp]: Failed to load entry "namespace" for device "fl_drive_joint"
[ros2_control_node-3] [INFO] [1758073017.344144716] [device_container]: Found device fl_drive_joint with driver ros2_canopen::RoboteqDriver
[ros2_control_node-3] [INFO] [1758073017.344991997] [device_container]: Load Library: /home/groundhog/ros_ws/install/roboteq_driver/lib/libroboteq_driver.so
[ros2_control_node-3] [INFO] [1758073017.346121609] [device_container]: Found class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::RoboteqDriver>
[ros2_control_node-3] [INFO] [1758073017.346147944] [device_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros2_canopen::RoboteqDriver>
[ros2_control_node-3] [WARN] [1758073017.346200711] [device_container]: Namespace not provided for node 'fl_drive_joint', using container namespace: /
[ros2_control_node-3] [INFO] [1758073017.348964053] [device_container]: Load driver component.
[ros2_control_node-3] [INFO] [1758073017.349243056] [device_container]: Added /fl_drive_joint to executor
[ros2_control_node-3] [INFO] [1758073017.362500641] [fl_drive_joint]: Non transmit timeout100ms
[ros2_control_node-3] [INFO] [1758073017.365355374] [fl_drive_joint]: gearing 1.000000
[ros2_control_node-3] rpm_at_max_power 360.000000
[ros2_control_node-3] inverted 0
[ros2_control_node-3]
[ros2_control_node-3] [INFO] [1758073017.367755427] [fl_drive_joint]: eds file /ros_ws/install/groundhog_bringup/share/groundhog_bringup/config/bus_one/roboteq_motor_controllers_v80.eds
[ros2_control_node-3] [INFO] [1758073017.367820033] [fl_drive_joint]: bin file /ros_ws/install/groundhog_bringup/share/groundhog_bringup/config/bus_one/fl_drive_joint.bin
[ros2_control_node-3] terminate called after throwing an instance of 'lely::bad_init'
[ros2_control_node-3] what(): No such file or directory
[ros2_control_node-3] Stack trace (most recent call last) in thread 35114:
[ros2_control_node-3] #31 Source "../sysdeps/unix/sysv/linux/aarch64/clone.S", line 79, in thread_start [0xffff838c5edb]
[ros2_control_node-3] #30 Source "./nptl/pthread_create.c", line 442, in start_thread [0xffff8385d5b7]
[ros2_control_node-3] #29 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffff83a929cb, in
[ros2_control_node-3] #28 Object "/home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so", at 0xffff2dca54f3, in std::thread::_State_impl<std::thread::_Invoker<std::tuple<ros2_canopen::node_interfaces::NodeCanopenMaster<rclcpp::Node>::activate()::{lambda()#1}> > >::_M_run()
[ros2_control_node-3] #27 Object "/home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so", at 0xffff2dca574b, in std::thread::_Invoker<std::tuple<ros2_canopen::node_interfaces::NodeCanopenMaster<rclcpp::Node>::activate()::{lambda()#1}> >::operator()()
[ros2_control_node-3] #26 Object "/home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so", at 0xffff2dca5963, in void std::thread::_Invoker<std::tuple<ros2_canopen::node_interfaces::NodeCanopenMaster<rclcpp::Node>::activate()::{lambda()#1}> >::_M_invoke<0ul>(std::_Index_tuple<0ul>)
[ros2_control_node-3] #25 Object "/home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so", at 0xffff2dca5c9b, in std::__invoke_result<ros2_canopen::node_interfaces::NodeCanopenMaster<rclcpp::Node>::activate()::{lambda()#1}>::type std::__invoke<ros2_canopen::node_interfaces::NodeCanopenMaster<rclcpp::Node>::activate()::{lambda()#1}>(ros2_canopen::node_interfaces::NodeCanopenMaster<rclcpp::Node>::activate()::{lambda()#1}&&)
[ros2_control_node-3] #24 Object "/home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so", at 0xffff2dca5ff7, in void std::__invoke_impl<void, ros2_canopen::node_interfaces::NodeCanopenMaster<rclcpp::Node>::activate()::{lambda()#1}>(std::__invoke_other, ros2_canopen::node_interfaces::NodeCanopenMaster<rclcpp::Node>::activate()::{lambda()#1}&&)
[ros2_control_node-3] #23 Object "/home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so", at 0xffff2dc9eaaf, in ros2_canopen::node_interfaces::NodeCanopenMaster<rclcpp::Node>::activate()::{lambda()#1}::operator()() const
[ros2_control_node-3] #22 Object "/home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so", at 0xffff2dc8eceb, in lely::ev::Loop::run()
[ros2_control_node-3] #21 Object "/home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so", at 0xffff2dc8edbb, in lely::ev::Loop::run(std::error_code&)
[ros2_control_node-3] #20 Object "/home/groundhog/ros_ws/install/canopen_master_driver/lib/libmaster_driver.so", at 0xffff2dc8eb4f, in ev_loop_run
[ros2_control_node-3] #19 Source "/home/groundhog/ros_ws/build/lely_core_libraries/upstream/src/ev/loop.c", line 390, in ev_loop_wait [0xffff2f637f67]
[ros2_control_node-3] 387: {
[ros2_control_node-3] 388: size_t n = 0;
[ros2_control_node-3] 389: struct ev_loop_ctx *ctx = NULL;
[ros2_control_node-3] > 390: while (ev_loop_ctx_wait_one(&ctx, loop, future))
[ros2_control_node-3] 391: n += n < SIZE_MAX;
[ros2_control_node-3] 392: ev_loop_ctx_destroy(ctx);
[ros2_control_node-3] 393: return n;
[ros2_control_node-3] #18 | Source "/home/groundhog/ros_ws/build/lely_core_libraries/upstream/src/ev/loop.c", line 699, in ev_exec_run
[ros2_control_node-3] | 697: #endif
[ros2_control_node-3] | 698: assert(task->exec);
[ros2_control_node-3] | > 699: ev_exec_run(task->exec, task);
[ros2_control_node-3] | 700: n++;
[ros2_control_node-3] | 701: #if !LELY_NO_THREADS
[ros2_control_node-3] Source "/home/groundhog/ros_ws/build/lely_core_libraries/upstream/include/lely/ev/exec.h", line 144, in ev_loop_ctx_wait_one [0xffff2f63752b]
[ros2_control_node-3] 141: inline void
[ros2_control_node-3] 142: ev_exec_run(ev_exec_t *exec, struct ev_task *task)
[ros2_control_node-3] 143: {
[ros2_control_node-3] > 144: (*exec)->run(exec, task);
[ros2_control_node-3] 145: }
[ros2_control_node-3] 146:
[ros2_control_node-3] 147: #ifdef __cplusplus
[ros2_control_node-3] #17 Source "/home/groundhog/ros_ws/build/lely_core_libraries/upstream/src/ev/std_exec.c", line 293, in ev_std_exec_run [0xffff2f638a13]
[ros2_control_node-3] 290: *plist = &exec_node;
[ros2_control_node-3] 291: }
[ros2_control_node-3] 292:
[ros2_control_node-3] > 293: task->func(task);
[ros2_control_node-3] 294:
[ros2_control_node-3] 295: pnode = ev_exec_find(exec_, plist);
[ros2_control_node-3] 296: assert(*pnode);
[ros2_control_node-3] #16 Object "/home/groundhog/ros_ws/install/canopen_base_driver/lib/libnode_canopen_base_driver.so", at 0xffff2fa072ef, in lely::ev::detail::TaskWrapper<lely::util::detail::invoker<std::tuple<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}> > >::TaskWrapper<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}>(ev_exec_vtbl const* const*, ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}&&)::{lambda(ev_task*)#1}::_FUN(ev_task*)
[ros2_control_node-3] #15 Object "/home/groundhog/ros_ws/install/canopen_base_driver/lib/libnode_canopen_base_driver.so", at 0xffff2fa07203, in lely::ev::detail::TaskWrapper<lely::util::detail::invoker<std::tuple<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}> > >::TaskWrapper<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}>(ev_exec_vtbl const* const*, ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}&&)::{lambda(ev_task*)#1}::operator()(ev_task*) const
[ros2_control_node-3] #14 Object "/home/groundhog/ros_ws/install/canopen_base_driver/lib/libnode_canopen_base_driver.so", at 0xffff2fa0ef17, in lely::util::detail::invoker<std::tuple<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}> >::operator()()
[ros2_control_node-3] #13 Object "/home/groundhog/ros_ws/install/canopen_base_driver/lib/libnode_canopen_base_driver.so", at 0xffff2fa14a9b, in decltype (invoke((get<0ul>)(move((*this).tuple_)))) lely::util::detail::invoker<std::tuple<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}> >::invoke_<0ul>(std::integer_sequence<unsigned long, 0ul>)
[ros2_control_node-3] #12 Object "/home/groundhog/ros_ws/install/canopen_base_driver/lib/libnode_canopen_base_driver.so", at 0xffff2fa194df, in std::invoke_result<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}>::type std::invoke<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}>(ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}&&)
[ros2_control_node-3] #11 Object "/home/groundhog/ros_ws/install/canopen_base_driver/lib/libnode_canopen_base_driver.so", at 0xffff2fa1cc83, in std::__invoke_result<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}>::type std::__invoke<ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}>(ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}&&)
[ros2_control_node-3] #10 Object "/home/groundhog/ros_ws/install/canopen_base_driver/lib/libnode_canopen_base_driver.so", at 0xffff2fa1ff47, in void std::__invoke_impl<void, ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}>(std::__invoke_other, ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}&&)
[ros2_control_node-3] #9 Object "/home/groundhog/ros_ws/install/canopen_base_driver/lib/libnode_canopen_base_driver.so", at 0xffff2f9e9443, in ros2_canopen::node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>::add_to_master()::{lambda()#1}::operator()() const
[ros2_control_node-3] #8 Object "/usr/lib/aarch64-linux-gnu/libgcc_s.so.1", at 0xffff8399ea13, in _Unwind_Resume
[ros2_control_node-3] #7 Object "/usr/lib/aarch64-linux-gnu/libgcc_s.so.1", at 0xffff8399e47b, in
[ros2_control_node-3] #6 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffff83a621bf, in __gxx_personality_v0
[ros2_control_node-3] #5 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffff83a61973, in
[ros2_control_node-3] #4 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffff83a62b4b, in
[ros2_control_node-3] #3 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffff83a653cf, in __gnu_cxx::__verbose_terminate_handler()
[ros2_control_node-3] #2 Source "./stdlib/abort.c", line 79, in abort [0xffff8380712f]
[ros2_control_node-3] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0xffff8381a67b]
[ros2_control_node-3] #0 Source "./nptl/pthread_kill.c", line 44, in __pthread_kill_implementation [0xffff8385f1f0]
[ros2_control_node-3] Aborted (Signal sent by tkill() 35023 1000)
[spawner-4] [INFO] [1758073018.159191556] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
Here is my bus.yaml
options:
dcf_path: "/ros_ws/install/groundhog_bringup/share/groundhog_bringup/config/bus_one"
master:
node_id: 1
driver: "ros2_canopen::MasterDriver"
package: "canopen_master_driver"
baudrate: 500000
sync_period: 5000
fl_drive_joint:
# boot_timeout_ms: 10000
reset_communication: true
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::RoboteqDriver"
package: "roboteq_driver"
polling: true
period: 50 # in milliseconds
node_id: 21
mode: "velocity"
gearing: 1
rpm_at_max_power: 360
inverted: false
diagnostics:
enable: true
period: 1000
tpdo:
1:
enabled: true
# transmission: 255
mapping:
- { index: 0x2100, sub_index: 1 } # read motor amps
2:
enabled: true
# transmission: 255
mapping:
- { index: 0x2107, sub_index: 1 } # read relative BL motor speed
- { index: 0x2149, sub_index: 1 } # read pulse inputs converted
3:
enabled: true
# transmission: 255
mapping:
- { index: 0x2122, sub_index: 1 } # read motor status flags
4:
enabled: true
# transmission: 255
mapping:
- { index: 0x2111, sub_index: 0 } # read status flags
- { index: 0x2112, sub_index: 0 } # read fault flags
rpdo:
1:
enabled: true
cob_id: "auto"
mapping:
- { index: 0x2000, sub_index: 1 } # set motor command
fl_steer_joint:
# boot_timeout_ms: 10000
reset_communication: true
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::RoboteqDriver"
package: "roboteq_driver"
polling: true
period: 50 # in milliseconds
node_id: 22
mode: "velocity"
gearing: 100
rpm_at_max_power: 100
inverted: true
diagnostics:
enable: true
period: 1000
rpdo:
1:
enabled: true
cob_id: "auto"
mapping:
- { index: 0x2000, sub_index: 1 } # set motor command
tpdo:
1:
enabled: true
# transmission: 255
mapping:
- { index: 0x2100, sub_index: 1 } # read motor amps
2:
enabled: true
# transmission: 255
mapping:
- { index: 0x210B, sub_index: 1 } # read relative BL motor speed
- { index: 0x2149, sub_index: 1 } # read pulse inputs converted
3:
enabled: true
# transmission: 255
mapping:
- { index: 0x2122, sub_index: 1 } # read motor status flags
4:
enabled: true
# transmission: 255
mapping:
- { index: 0x2111, sub_index: 0 } # read status flags
- { index: 0x2112, sub_index: 0 } # read fault flags
fr_drive_joint:
# boot_timeout_ms: 10000
reset_communication: true
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::RoboteqDriver"
package: "roboteq_driver"
polling: true
period: 50 # in milliseconds
node_id: 23
mode: "velocity"
gearing: 1
rpm_at_max_power: 360
inverted: true
diagnostics:
enable: true
period: 1000
tpdo:
1:
enabled: true
# transmission: 255
mapping:
- { index: 0x2100, sub_index: 1 } # read motor amps
2:
enabled: true
# transmission: 255
mapping:
- { index: 0x2107, sub_index: 1 } # read relative BL motor speed
- { index: 0x2149, sub_index: 1 } # read pulse inputs converted
3:
enabled: true
# transmission: 255
mapping:
- { index: 0x2122, sub_index: 1 } # read motor status flags
4:
enabled: true
# transmission: 255
mapping:
- { index: 0x2111, sub_index: 0 } # read status flags
- { index: 0x2112, sub_index: 0 } # read fault flags
rpdo:
1:
enabled: true
cob_id: "auto"
mapping:
- { index: 0x2000, sub_index: 1 } # set motor command
fr_steer_joint:
# boot_timeout_ms: 10000
reset_communication: true
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::RoboteqDriver"
package: "roboteq_driver"
polling: true
period: 50 # in milliseconds
node_id: 24
mode: "velocity"
gearing: 100
rpm_at_max_power: 100
inverted: true
diagnostics:
enable: true
period: 1000
rpdo:
1:
enabled: true
cob_id: "auto"
mapping:
- { index: 0x2000, sub_index: 1 } # set motor command
tpdo:
1:
enabled: true
# transmission: 255
mapping:
- { index: 0x2100, sub_index: 1 } # read motor amps
2:
enabled: true
# transmission: 255
mapping:
- { index: 0x210B, sub_index: 1 } # read relative BL motor speed
- { index: 0x2149, sub_index: 1 } # read pulse inputs converted
3:
enabled: true
# transmission: 255
mapping:
- { index: 0x2122, sub_index: 1 } # read motor status flags
4:
enabled: true
# transmission: 255
mapping:
- { index: 0x2111, sub_index: 0 } # read status flags
- { index: 0x2112, sub_index: 0 } # read fault flags
rl_drive_joint:
# boot_timeout_ms: 10000
reset_communication: true
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::RoboteqDriver"
package: "roboteq_driver"
polling: true
period: 50 # in milliseconds
node_id: 25
mode: "velocity"
gearing: 1
rpm_at_max_power: 360
inverted: false
diagnostics:
enable: true
period: 1000
tpdo:
1:
enabled: true
# transmission: 255
mapping:
- { index: 0x2100, sub_index: 1 } # read motor amps
2:
enabled: true
# transmission: 255
mapping:
- { index: 0x2107, sub_index: 1 } # read relative BL motor speed
- { index: 0x2149, sub_index: 1 } # read pulse inputs converted
3:
enabled: true
# transmission: 255
mapping:
- { index: 0x2122, sub_index: 1 } # read motor status flags
4:
enabled: true
# transmission: 255
mapping:
- { index: 0x2111, sub_index: 0 } # read status flags
- { index: 0x2112, sub_index: 0 } # read fault flags
rpdo:
1:
enabled: true
cob_id: "auto"
mapping:
- { index: 0x2000, sub_index: 1 } # set motor command
rl_steer_joint:
# boot_timeout_ms: 10000
reset_communication: true
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::RoboteqDriver"
package: "roboteq_driver"
polling: true
period: 50 # in milliseconds
node_id: 26
mode: "velocity"
gearing: 100
rpm_at_max_power: 100
inverted: false
diagnostics:
enable: true
period: 1000
rpdo:
1:
enabled: true
cob_id: "auto"
mapping:
- { index: 0x2000, sub_index: 1 } # set motor command
tpdo:
1:
enabled: true
# transmission: 255
mapping:
- { index: 0x2100, sub_index: 1 } # read motor amps
2:
enabled: true
# transmission: 255
mapping:
- { index: 0x210B, sub_index: 1 } # read relative BL motor speed
- { index: 0x2149, sub_index: 1 } # read pulse inputs converted
3:
enabled: true
# transmission: 255
mapping:
- { index: 0x2122, sub_index: 1 } # read motor status flags
4:
enabled: true
# transmission: 255
mapping:
- { index: 0x2111, sub_index: 0 } # read status flags
- { index: 0x2112, sub_index: 0 } # read fault flags
rr_drive_joint:
# boot_timeout_ms: 10000
reset_communication: true
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::RoboteqDriver"
package: "roboteq_driver"
polling: true
period: 50 # in milliseconds
node_id: 27
mode: "velocity"
gearing: 1
rpm_at_max_power: 360
inverted: true
diagnostics:
enable: true
period: 1000
tpdo:
1:
enabled: true
# transmission: 255
mapping:
- { index: 0x2100, sub_index: 1 } # read motor amps
2:
enabled: true
# transmission: 255
mapping:
- { index: 0x2107, sub_index: 1 } # read relative BL motor speed
- { index: 0x2149, sub_index: 1 } # read pulse inputs converted
3:
enabled: true
# transmission: 255
mapping:
- { index: 0x2122, sub_index: 1 } # read motor status flags
4:
enabled: true
# transmission: 255
mapping:
- { index: 0x2111, sub_index: 0 } # read status flags
- { index: 0x2112, sub_index: 0 } # read fault flags
rpdo:
1:
enabled: true
cob_id: "auto"
mapping:
- { index: 0x2000, sub_index: 1 } # set motor command
rr_steer_joint:
# boot_timeout_ms: 10000
reset_communication: true
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::RoboteqDriver"
package: "roboteq_driver"
polling: true
period: 50 # in m illiseconds
node_id: 28
mode: "velocity"
gearing: 100
rpm_at_max_power: 100
inverted: false
diagnostics:
enable: true
period: 1000
rpdo:
1:
enabled: true
cob_id: "auto"
mapping:
- { index: 0x2000, sub_index: 1 } # set motor command
tpdo:
1:
enabled: true
# transmission: 255
mapping:
- { index: 0x2100, sub_index: 1 } # read motor amps
2:
enabled: true
# transmission: 255
mapping:
- { index: 0x210B, sub_index: 1 } # read relative BL motor speed
- { index: 0x2149, sub_index: 1 } # read pulse inputs converted
3:
enabled: true
# transmission: 255
mapping:
- { index: 0x2122, sub_index: 1 } # read motor status flags
4:
enabled: true
# transmission: 255
mapping:
- { index: 0x2111, sub_index: 0 } # read status flags
- { index: 0x2112, sub_index: 0 } # read fault flags
zhetronic_rc:
boot_timeout_ms: 100000
node_id: 12
dcf: "HyperCAN_line1.eds"
package: "ros2_hetronic_driver"
driver: "ros2_canopen::HetronicDriver"
polling: true
period: 50
diagnostics:
enable: true
period: 1000
Setup:
- Device: Nvidia Jetson AGX Orin
- OS: Ubuntu 22.04
- ROS-Distro: Humble
- Branch/Commit: humble
Any help in finding the solution is appreciated. Let me know if I can test anything with my system. Thanks.