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ERROR: Unable to communicate with master! #378

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henrispriet opened this issue Mar 27, 2024 · 3 comments
Closed

ERROR: Unable to communicate with master! #378

henrispriet opened this issue Mar 27, 2024 · 3 comments

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@henrispriet
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When I run the flakes example, nix develop github:lopsided98/nix-ros-overlay#example-turtlebot3-gazebo, it builds and I get into the shell. But, when I run the roslaunch commands, I get

... logging to /path/to/log/file.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.

and then nothing. So, I ran rosnode list to see if the nodes were online and I get the error message ERROR: Unable to communicate with master!. Same for rostopic list and rosservice list.
@henrispriet
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henrispriet commented Apr 6, 2024 •
edited
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These are the contents of the log files by the way.
roslaunch turtlebot3_gazebo turtlebot3_world.launch

[roslaunch][INFO] 2024-04-06 11:43:09,113: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2024-04-06 11:43:09,117: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2024-04-06 11:43:09,117: roslaunch starting with args ['/nix/store/3b2jy7jfkdgdlrgg73ragf2myxiva220-ros-noetic-roslaunch-1.16.0-r1/bin/roslaunch', 'turtlebot3_gazebo', 'turtlebot3_world.launch']
[roslaunch][INFO] 2024-04-06 11:43:09,118: roslaunch env is environ({'SHELL': '/nix/store/cjbyb45nxiqidj95c4k1mh65azn1x896-bash-5.2-p21/bin/bash', 'ROS_VERSION': '1', 'PKG_CONFIG_FOR_TARGET': 'pkg-config', 'COLORTERM': 'truecolor', '_PYTHON_HOST_PLATFORM': 'linux-x86_64', 'NIX_BUILD_CORES': '16', 'SUDO_GID': '1000', 'NIX_GCROOT': '/nix/store/ba8q2cn323x5m8h5ahh2jsrrppwhzwxh-nix-shell-env', 'configureFlags': '', 'mesonFlags': '', 'PKG_CONFIG_PATH': '/nix/store/fq13l4w9agcvf1ryvdakn5nifba18zw9-ignition-cmake2-2.16.0/lib/pkgconfig:/nix/store/a7sbxs4jbcbs57r7pz5361fkdp03xc3d-ros-env/lib/pkgconfig:/nix/store/gzc46fwkcj39fs6s9r19x28zagvkh6r5-gazebo-11.14.0/lib/pkgconfig:/nix/store/d1k9z3gazfanyrsf61csfxnrinr4q7md-protobuf-24.4/lib/pkgconfig:/nix/store/vvasbbp1y6b8dn38hap0yn312iibzi68-abseil-cpp-20230125.3/lib/pkgconfig:/nix/store/wh4i1n01gl9nc4ajmrbxd07r29gidaq7-sdformat-9.10.0/lib/pkgconfig:/nix/store/rzq7xlxmvq243jfcmi0sf2g3ksfb2l8w-ignition-math6-6.13.0/lib/pkgconfig:/nix/store/rlbm8wp3va1bwb8ngr7mbf893hr5zjh7-tinyxml-2.6.2/lib/pkgconfig:/nix/store/x1yr5iy0ba1whxryyhm6fcadb3v2i0h9-tbb-2020.3-dev/lib/pkgconfig:/nix/store/q7rqgif3i9in7pz1aj8zmmn4lnfajqyn-ogre-1.9.1/lib/pkgconfig:/nix/store/67xiinv7myidnx34bdrla06fiayk5p9k-ffmpeg-6.1-dev/lib/pkgconfig:/nix/store/nqccbah53npbsd9rkazd7xfp1cjd48z2-ignition-math4-4.0.0/lib/pkgconfig:/nix/store/xik9b0b5mxy4886vj6vgffx7c8xygzlb-ignition-transport8-8.4.0/lib/pkgconfig:/nix/store/3hglxm7x74s38b1wzch19kswm9ay1pr4-cppzmq-4.10.0/lib/pkgconfig:/nix/store/mq6sd4g7r2kiyv34s3q8rk95kxppnlfx-zeromq-4.3.5/lib/pkgconfig:/nix/store/v0436i7myxw0g2bgrlq9db59grjivz9p-util-linux-minimal-2.39.3-dev/lib/pkgconfig:/nix/store/m03rpvdcijfifixm3qb5a2kcw2zz98hf-ignition-msgs5-5.11.0/lib/pkgconfig:/nix/store/v710l549nycprz3mplwbfkj3b956i3p6-tinyxml2-10.0.0/lib/pkgconfig:/nix/store/fpa1r0f1kl4pf1xn9hfbn9841qs6k3ww-ignition-fuel-tools4-4.8.3/lib/pkgconfig:/nix/store/4jpgyw3p9qmbx5bp3l3p42rsd3xl661l-ignition-common3-3.16.0/lib/pkgconfig:/nix/store/zpxxmkh1sn7znrwvw51w8vgcz774p53a-curl-8.5.0-dev/lib/pkgconfig:/nix/store/b8p3yly5vacr4prsqcm7b63srsba2dvg-brotli-1.1.0-dev/lib/pkgconfig:/nix/store/mrhzbg3hz7qgr9wxz54q5ml0haj1r9mc-libkrb5-1.21.2-dev/lib/pkgconfig:/nix/store/xdjn1cz79ddibar9rw21jl73pwhh4nv2-nghttp2-1.57.0-dev/lib/pkgconfig:/nix/store/2ndy7asd9mfph5cadsfyx3jfjxncwp3j-libidn2-2.3.4-dev/lib/pkgconfig:/nix/store/j7yb0yjmrmjx7a8lyh8yqniywm0l1jwr-openssl-3.0.12-dev/lib/pkgconfig:/nix/store/2hpvsgfb1ijiv5njkdps93mr9m0w4qzb-libssh2-1.11.0-dev/lib/pkgconfig:/nix/store/0lhpp01fk804wx7y9lxcnbzpnllw37pk-zlib-1.3-dev/lib/pkgconfig:/nix/store/0pb53w0y40lm7imb9a9y10hddai7yabk-zstd-1.5.5-dev/lib/pkgconfig:/nix/store/kmynhcz8v0rfkrhm87sjj3lhxwikdig6-jsoncpp-1.9.5-dev/lib/pkgconfig:/nix/store/zzbxb8sxsi0kinz2iqsaqnh0x8715yx5-libyaml-0.2.5-dev/lib/pkgconfig:/nix/store/yvi96kzylircm4f3ja5bj57w07z3cp58-libzip-1.10.1-dev/lib/pkgconfig:/nix/store/jp89dszyb61j89s40rd1v6k8b2kv1njb-gtest-1.12.1-dev/lib/pkgconfig:/nix/store/w4fvvhkzb0ssv0fw5j34pw09f0qw84w8-python3-3.11.7/lib/pkgconfig:/nix/store/yhjcwv1w9hlwr7nld74qcmjcdnr2y5gm-urdfdom-3.1.1/lib/pkgconfig:/nix/store/iimfbr9rddk69y75alvcazfb1x6zq4sd-urdfdom-headers-1.1.0/lib/pkgconfig:/nix/store/95388cxxjjxl2dfj3rfn9bxrv1wfxvif-console-bridge-1.0.2/lib/pkgconfig:/nix/store/pqshgdzidnijn9s7iyah1mi4mdfwj8kk-graphviz-9.0.0/lib/pkgconfig:/nix/store/75h17qq11d7xb4gpxmg0gd8dx8f1873y-opencv-4.7.0/lib/pkgconfig:/nix/store/cqq0s63v55k04m2chc6p8z2xd4m887pd-util-linux-2.39.3-dev/lib/pkgconfig:/nix/store/rg37yzxnvx9j7p0dml1arn3k251v41xq-apr-1.7.4-dev/lib/pkgconfig:/nix/store/a3gy0kwwr7gw5pb4j19g1qrczqd5v18a-log4cxx-1.2.0/lib/pkgconfig:/nix/store/57c7s8kljy47wl8mhfmci7mym03wlv1x-yaml-cpp-0.8.0/lib/pkgconfig:/nix/store/yq7lmz00mgg87s5g6s12l43h25qq6njv-pcre2-10.42-dev/lib/pkgconfig:/nix/store/gmq2vvrj0a2h7jq9kjjdx33hz7v4z95w-expat-2.5.0-dev/lib/pkgconfig:/nix/store/jpayxpky3s4qnwn7l61s9x256rs54356-sqlite-3.44.2-dev/lib/pkgconfig:/nix/store/ihx7qgcs6vlnnpqrgimxaqx502nd9sc1-bzip2-1.0.8-dev/lib/pkgconfig:/nix/store/78s9qjldwsygkgj9jpslg2zd0ib3bv9k-gpgme-1.23.2-dev/lib/pkgconfig:/nix/store/vdaqdd9l32mnpxlv645y4sjslm82yv9x-glib-2.78.3-dev/lib/pkgconfig:/nix/store/fbzikmvl4bd4gxpvsrvillkgl731mxnk-libffi-3.4.4-dev/lib/pkgconfig:/nix/store/bhd3hn7ybvhjnb4v5j34hg2byr3xzvmb-libassuan-2.5.6-dev/lib/pkgconfig:/nix/store/wv7fkdnk4pjwa9xiaky2jshbrhwkd63b-libgpg-error-1.47-dev/lib/pkgconfig:/nix/store/wzm92hpkm780hsiykj1pamypd94hcrg7-lz4-1.9.4-dev/lib/pkgconfig', 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'name': 'nix-shell-env', 'PKG_CONFIG': 'pkg-config', 'depsHostHostPropagated': '', 'ROS_LOG_FILENAME': '/path/to/log/file.log'})
[roslaunch][INFO] 2024-04-06 11:43:09,118: starting in server mode

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

[roslaunch][INFO] 2024-04-06 11:46:57,018: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2024-04-06 11:46:57,029: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2024-04-06 11:46:57,029: roslaunch starting with args ['/nix/store/3b2jy7jfkdgdlrgg73ragf2myxiva220-ros-noetic-roslaunch-1.16.0-r1/bin/roslaunch', 'turtlebot3_teleop', 'turtlebot3_teleop_key.launch']
[roslaunch][INFO] 2024-04-06 11:46:57,030: roslaunch env is environ({'SHELL': '/nix/store/cjbyb45nxiqidj95c4k1mh65azn1x896-bash-5.2-p21/bin/bash', 'ROS_VERSION': '1', 'SESSION_MANAGER': '/path/to/something', 'PKG_CONFIG_FOR_TARGET': 'pkg-config', 'QT_ACCESSIBILITY': '1', 'COLORTERM': 'truecolor', 'SSH_AGENT_LAUNCHER': 'gnome-keyring', '_PYTHON_HOST_PLATFORM': 'linux-x86_64', 'NIX_BUILD_CORES': '16', 'NIX_GCROOT': '/nix/store/ba8q2cn323x5m8h5ahh2jsrrppwhzwxh-nix-shell-env', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'configureFlags': '', 'NU_LOG_FORMAT': '%ANSI_START%%DATE%|%LEVEL%|%MSG%%ANSI_STOP%', 'mesonFlags': '', 'PKG_CONFIG_PATH': 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'PKG_CONFIG': 'pkg-config', 'depsHostHostPropagated': '', 'ROS_LOG_FILENAME': '/path/to/log/file.log'})
[roslaunch][INFO] 2024-04-06 11:46:57,031: starting in server mode

@henrispriet
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Turns out it's an upstream issue (ros/ros_comm#2330).
This fixed it for me.
Now I just gotta find a way to patch the file at build time.

@henrispriet
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For my actual use case I'm using docker, so I fixed it using fakeRootCommands inside pkgs.dockerTools.buildLayeredImage, like so:

pkgs.dockerTools.buildLayeredImage {
    # ...
    fakeRootCommands = let
        fileToPatch = "${my-ros-env}/lib/python3.11/site-packages/rosgraph/roslogging.py";
        lineToPatch = "71";
    in [''
        ${pkgs.gnused}/bin/sed '${lineToPatch}a\
                        break
        ' < ${fileToPatch} > ${fileToPatch}
    ''];
    # ...
}

Where my-ros-env is the return value of pkgs.rosPackages.noetic.buildEnv. And there are 16 actual spaces before break for the right python indentation. In monospace font, the b of break should line up with the i of bin above.

@henrispriet henrispriet mentioned this issue Apr 7, 2024
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noetic: add patch to fix rosgraph henrispriet/nix-ros-overlay
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@henrispriet