wheeltec@wheeltec:~/ws$ roslaunch decision d.launch
… logging to /home/wheeltec/.ros/log/a354455e-2507-11f0-ab94-994d4b5f9b1e/roslaunch-wheeltec-12881.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.

WARNING: ignoring defunct tag
started roslaunch server http://192.168.10.113:38119/

SUMMARY

PARAMETERS

/ahrs_driver/Euler_angles_pub_: euler_angles
/ahrs_driver/Magnetic_pub_: magnetic
/ahrs_driver/NED_odom_topic_: NED_odometry
/ahrs_driver/baud: 921600
/ahrs_driver/debug: False
/ahrs_driver/device_type: 1
/ahrs_driver/gps_topic_: gps/fix
/ahrs_driver/imu_frame: gyro_link
/ahrs_driver/imu_topic: imu
/ahrs_driver/mag_pose_2d_topic: mag_pose_2d
/ahrs_driver/port: /dev/wheeltec_imu
/ahrs_driver/twist_topic_: system_speed
/if_akm_yes_or_no: no
/robot_pose_ekf/base_footprint_frame: base_footprint
/robot_pose_ekf/freq: 30.0
/robot_pose_ekf/imu_used: True
/robot_pose_ekf/odom_used: True
/robot_pose_ekf/output_frame: odom_combined
/robot_pose_ekf/sensor_timeout: 2.0
/robot_pose_ekf/vo_used: False
/rosdistro: noetic
/rosversion: 1.17.0
/usb_cam/camera_frame_id: usb_cam
/usb_cam/image_height: 480
/usb_cam/image_width: 640
/usb_cam/io_method: mmap
/usb_cam/pixel_format: yuyv
/usb_cam/video_device: /dev/video0
/wheeltec_robot/gyro_frame_id: gyro_link
/wheeltec_robot/odom_frame_id: odom_combined
/wheeltec_robot/odom_x_scale: 1.0
/wheeltec_robot/odom_y_scale: 1.0
/wheeltec_robot/odom_z_scale_negative: 1.0
/wheeltec_robot/odom_z_scale_positive: 1.0
/wheeltec_robot/robot_frame_id: base_footprint
/wheeltec_robot/serial_baud_rate: 115200
/wheeltec_robot/usart_port_name: /dev/serial/by-id…

NODES
/
ahrs_driver (fdilink_ahrs/ahrs_driver)
base_to_link (tf/static_transform_publisher)
com (decision/deci)
deci (decision/deci)
gen_tts (decision/deci)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
usb_cam (usb_cam/usb_cam_node)
wheeltec_robot (turn_on_wheeltec_robot/wheeltec_robot_node)
wx_gui (decision/deci)

auto-starting new master
process[master]: started with pid [12889]
ROS_MASTER_URI=http://192.168.10.113:11311

setting /run_id to a354455e-2507-11f0-ab94-994d4b5f9b1e
process[rosout-1]: started with pid [12899]
started core service [/rosout]
process[wheeltec_robot-2]: started with pid [12906]
process[ahrs_driver-3]: started with pid [12907]
process[base_to_link-4]: started with pid [12910]
process[joint_state_publisher-5]: started with pid [12918]
process[robot_state_publisher-6]: started with pid [12921]
process[robot_pose_ekf-7]: started with pid [12926]
[ INFO] [1745937521.777391695]: Data ready
[ERROR] [1745937521.783679004]: wheeltec_robot can not open serial port,Please check the serial port cable!
terminate called after throwing an instance of ‘serial::PortNotOpenedException’
what(): PortNotOpenedException Serial::read failed.
[ERROR] [1745937521.826421439]: Unable to open port
process[usb_cam-8]: started with pid [12928]
[ERROR] [1745937521.917824920]: Could not find parameter robot_description on parameter server
process[deci-9]: started with pid [12938]
process[com-10]: started with pid [12942]
[ INFO] [1745937522.192142861]: output frame: odom_combined
[ INFO] [1745937522.198698962]: base frame: base_footprint
[ahrs_driver-3] process has finished cleanly
log file: /home/wheeltec/.ros/log/a354455e-2507-11f0-ab94-994d4b5f9b1e/ahrs_driver-3.log [robot_state_publisher-6] process has died [pid 12921, exit code 1, cmd /opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/wheeltec/.ros/log/a354455e-2507-11f0-ab94-994d4b5f9b1e/robot_state_publisher-6.log]. log file: /home/wheeltec/.ros/log/a354455e-2507-11f0-ab94-994d4b5f9b1e/robot_state_publisher-6.log
process[wx_gui-11]: started with pid [12944]
cd /home/wheeltec/ws/src/decision/scripts && python3.8 4d.py
process[gen_tts-12]: started with pid [12950]
cd /home/wheeltec/ws/src/decision/scripts && python3.8 com.py
cd /home/wheeltec/ws/src/decision/scripts && python3.8 gen_tts.py
cd /home/wheeltec/ws/src/decision/scripts && python3.8 wx_gui.py
[wheeltec_robot-2] process has died [pid 12906, exit code -6, cmd /home/wheeltec/ws/devel/lib/turn_on_wheeltec_robot/wheeltec_robot_node imu:=imu_on_board __name:=wheeltec_robot __log:=/home/wheeltec/.ros/log/a354455e-2507-11f0-ab94-994d4b5f9b1e/wheeltec_robot-2.log].
log file: /home/wheeltec/.ros/log/a354455e-2507-11f0-ab94-994d4b5f9b1e/wheeltec_robot-2*.log
[ INFO] [1745937524.235340936]: using default calibration URL
[ INFO] [1745937524.241619818]: camera calibration URL: file:///home/wheeltec/.ros/camera_info/head_camera.yaml
[ INFO] [1745937524.245152125]: Starting ‘head_camera’ (/dev/video0) at 640×480 via mmap (yuyv) at 30 FPS
/home/wheeltec/ws/src/decision/scripts
[ WARN] [1745937524.887978696]: unknown control ‘focus_auto’