Create2 / RPLidar 1A - Error, cannot bind to the specified serial port /dev/rplidar

[NexxuSix]

Hello Tork-A,
I am attempting to use this project with a Create 2, and RPLidar A1. When i attempt to launch the project inside the Create 2, I receive and error about not being able to bind to ports. I suspect it has something to do with the device ID (Your project is Create 1 / RPLidar A2, mine is Create 2 / RPLidar A1). I have tried chmod 666 /dev/ttyUSB0 (also ttyUSB1). I am using the Ubiquity Robots image which is Xenial 16.04. The cable is plugged into the Create 2, and the RPLidar A1 is spinning.

Below is the output from PuTTY:

============ PuTTY log 2021.07.25 11:19:31 ============
login as: ubuntu
[email protected]'s password:
Welcome to Ubuntu 16.04.7 LTS (GNU/Linux 5.4.51-v7+ armv7l)

Welcome to the Ubiquity Robotics Raspberry Pi Image
Learn more: https://learn.ubiquityrobotics.com
Like our image? Support us on PayPal: [email protected]

Wifi can be managed with pifi (pifi --help for more info)

435 packages can be updated.
140 updates are security updates.

Last login: Sun Jul 25 11:14:11 2021 from 192.168.0.13

�]0;ubuntu@ubiquityrobot: �ubuntu@ubiquityrobot:$ exit����roslaunch roomblock_bringup roomblock.launch
�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[C�[18Pexport ROS_IP=192.168.0.18
�]0;ubuntu@ubiquityrobot: �ubuntu@ubiquityrobot:$ export ROS_IP=192.168.0.18������������������������it�[K����roslaunch roomblock_bringup roomblock.launch
... logging to /home/ubuntu/.ros/log/722f5768-d0dc-11e5-a976-b827ebcae3b7/roslaunch-ubiquityrobot-4057.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
�]2;/opt/ros/kinetic/share/roomblock_bringup/launch/roomblock.launch�
�[93mxacro: Traditional processing is deprecated. Switch to --inorder processing!�[0m
�[93mTo check for compatibility of your document, use option --check-order.�[0m
�[93mFor more infos, see http://wiki.ros.org/xacro#Processing_Order�[0m
�[93mdeprecated: xacro tags should be prepended with 'xacro' xml namespace.�[0m
Use the following script to fix incorrect usage:
find . -iname "*.xacro" | xargs sed -i 's#<([/]?)(if|unless|include|arg|property|macro|insert_block)#<\1xacro:\2#g'
when processing file: /opt/ros/kinetic/share/roomblock_description/robots/roomblock.urdf.xacro

�[93mxacro.py is deprecated; please use xacro instead�[0m
�[1mstarted roslaunch server http://ubiquityrobot.local:39771/�[0m

SUMMARY

PARAMETERS

• /raspicam_node/camera_frame_id: raspicam
• /raspicam_node/camera_info_url: package://raspica...
• /raspicam_node/framerate: 30
• /raspicam_node/hFlip: True
• /raspicam_node/height: 960
• /raspicam_node/vFlip: True
• /raspicam_node/width: 1280
• /robot_description: <?xml version="1....
• /robot_pose_ekf/freq: 10.0
• /robot_pose_ekf/imu_used: False
• /robot_pose_ekf/odom_used: True
• /robot_pose_ekf/output_frame: odom
• /robot_pose_ekf/publish_tf: True
• /robot_pose_ekf/sensor_timeout: 1.0
• /robot_pose_ekf/vo_used: False
• /robot_state_publisher/publish_frequency: 5.0
• /rosdistro: kinetic
• /rosversion: 1.12.16
• /rplidarNode/angle_compensate: True
• /rplidarNode/frame_id: laser
• /rplidarNode/inverted: False
• /rplidarNode/serial_baudrate: 115200
• /rplidarNode/serial_port: /dev/rplidar
• /turtlebot_node/bonus: False
• /turtlebot_node/has_gyro: False
• /turtlebot_node/operation_mode: 2
• /turtlebot_node/port: /dev/roomba
• /turtlebot_node/robot_type: roomba
• /turtlebot_node/update_rate: 30.0

NODES
/
raspicam_node (raspicam_node/raspicam_node)
robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rplidarNode (rplidar_ros/rplidarNode)
turtlebot_node (create_node/turtlebot_node.py)

�[1mROS_MASTER_URI=http://ubiquityrobot.local:11311�[0m
�]2;/opt/ros/kinetic/share/roomblock_bringup/launch/roomblock.launch http://ubiquityrobot.local:11311�
�[1mprocess[robot_state_publisher-1]: started with pid [4077]�[0m
�[1mprocess[rplidarNode-2]: started with pid [4078]�[0m
�[1mprocess[turtlebot_node-3]: started with pid [4079]�[0m
�[1mprocess[robot_pose_ekf-4]: started with pid [4081]�[0m
�[1mprocess[raspicam_node-5]: started with pid [4103]�[0m
�[31m[ERROR] [1627230001.823615241]: Error, cannot bind to the specified serial port /dev/rplidar.�[0m
�[31m[rplidarNode-2] process has died [pid 4078, exit code 255, cmd /opt/ros/kinetic/lib/rplidar_ros/rplidarNode __name:=rplidarNode __log:=/home/ubuntu/.ros/log/722f5768-d0dc-11e5-a976-b827ebcae3b7/rplidarNode-2.log].
log file: /home/ubuntu/.ros/log/722f5768-d0dc-11e5-a976-b827ebcae3b7/rplidarNode-2*.log�[0m
�[31m[ERROR] [1627230008.233972]: Failed to open port /dev/roomba. Error: Please make sure the Create cable is plugged into the computer.

�[0m^C[raspicam_node-5] killing on exit
[robot_pose_ekf-4] killing on exit
[turtlebot_node-3] killing on exit
[robot_state_publisher-1] killing on exit
�[31m[ERROR] [1627230010.009087]: Failed to contact device with error: ['NoneType' object has no attribute 'start']. Please check that the Create is powered on and that the connector is plugged into the Create.
�[0mshutting down processing monitor...
... shutting down processing monitor complete
�[1mdone�[0m
�]0;ubuntu@ubiquityrobot: �ubuntu@ubiquityrobot:$ exit
logout

[NexxuSix]

This is very similar to Issue #14