wjs@wjs-desktop:~/Drone_Slam$ ros2 launch fishbot_grapher test_grapher_6.launch.py
[INFO] [launch]: All log files can be found below /home/wjs/.ros/log/2025-08-01-00-35-21-205680-wjs-desktop-2879
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sllidar_node-1]: process started with pid [2882]
[INFO] [ahrs_driver_node-2]: process started with pid [2884]
[INFO] [static_transform_publisher-3]: process started with pid [2886]
[INFO] [robot_state_publisher-4]: process started with pid [2888]
[INFO] [cartographer_node-5]: process started with pid [2890]
[INFO] [cartographer_occupancy_grid_node-6]: process started with pid [2894]
[INFO] [test01-7]: process started with pid [2902]
[static_transform_publisher-3] [WARN] [1753979721.537040397] []: Old-style arguments are deprecated; see --help for new-style arguments
[sllidar_node-1] [INFO] [1753979721.758057445] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0
[sllidar_node-1] [INFO] [1753979721.806444401] [sllidar_node]: SLLidar S/N: 7885EC95C1EA9ED1B2E49CF4FB594571
[sllidar_node-1] [INFO] [1753979721.806628793] [sllidar_node]: Firmware Ver: 1.01
[sllidar_node-1] [INFO] [1753979721.806682875] [sllidar_node]: Hardware Rev: 18
[sllidar_node-1] [INFO] [1753979721.858743833] [sllidar_node]: SLLidar health status : 0
[sllidar_node-1] [INFO] [1753979721.858900064] [sllidar_node]: SLLidar health status : OK.
[sllidar_node-1] [INFO] [1753979722.089228500] [sllidar_node]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 18.0 m, scan frequency:10.0 Hz,
[cartographer_node-5] [INFO] [1753979722.285159294] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/home/wjs/Drone_Slam/install/fishbot_grapher/share/fishbot_grapher/config/fishbot_2d.lua' for 'fishbot_2d.lua'.
[cartographer_node-5] [INFO] [1753979722.316376894] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-5] [INFO] [1753979722.316734830] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-5] [INFO] [1753979722.317209060] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-5] [INFO] [1753979722.317477826] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-5] [INFO] [1753979722.318294347] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-5] [INFO] [1753979722.318567575] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-5] [INFO] [1753979722.335346971] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-5] [INFO] [1753979722.335619015] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-5] [INFO] [1753979722.336400726] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-5] [INFO] [1753979722.336697858] [cartographer logger]: I0801 00:35:22.000000 2890 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[static_transform_publisher-3] [INFO] [1753979722.387448415] [imu_tf_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from 'base_link' to 'imu_link'
[ahrs_driver_node-2] [INFO] [1753979722.599184780] [ahrs_bringup]: Serial Port initialized
[ahrs_driver_node-2] [INFO] [1753979722.599712426] [ahrs_bringup]: ahrsBringup::processLoop: start
[ahrs_driver_node-2] terminate called after throwing an instance of 'serial::SerialException'
[ahrs_driver_node-2] what(): SerialException device reports readiness to read but returned no data (device disconnected?) failed.
[robot_state_publisher-4] [INFO] [1753979722.692730637] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1753979722.693155486] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-4] [INFO] [1753979722.693285778] [robot_state_publisher]: got segment laser_link
[cartographer_node-5] [INFO] [1753979722.875068815] [cartographer logger]: I0801 00:35:22.000000 2890 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
[ERROR] [ahrs_driver_node-2]: process has died [pid 2884, exit code -6, cmd '/home/wjs/Drone_Slam/install/fdilink_ahrs/lib/fdilink_ahrs/ahrs_driver_node --ros-args --params-file /tmp/launch_params_ccuxsgpz'].
[cartographer_node-5] [INFO] [1753979723.981995571] [cartographer logger]: I0801 00:35:23.000000 2890 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638895765239747368'.
[cartographer_node-5] [INFO] [1753979723.982265376] [cartographer logger]: I0801 00:35:23.000000 2890 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing.
[cartographer_node-5] [INFO] [1753979724.080317557] [cartographer logger]: I0801 00:35:24.000000 2890 pose_graph_2d.cc:148] Inserted submap (0, 0).
[cartographer_node-5] [WARN] [1753979724.286147835] [cartographer logger]: W0801 00:35:24.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[test01-7] Traceback (most recent call last):
[test01-7] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 322, in open
[test01-7] self.fd = os.open(self.portstr, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
[test01-7] FileNotFoundError: [Errno 2] No such file or directory: '/dev/esp'
[test01-7]
[test01-7] During handling of the above exception, another exception occurred:
[test01-7]
[test01-7] Traceback (most recent call last):
[test01-7] File "/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01", line 33, in <module>
[test01-7] sys.exit(load_entry_point('fishbot-grapher==0.0.0', 'console_scripts', 'test01')())
[test01-7] File "/home/wjs/Drone_Slam/install/fishbot_grapher/lib/python3.10/site-packages/fishbot_grapher/test01.py", line 101, in main
[test01-7] tf_subscriber = TFSubscriber()
[test01-7] File "/home/wjs/Drone_Slam/install/fishbot_grapher/lib/python3.10/site-packages/fishbot_grapher/test01.py", line 20, in __init__
[test01-7] self.ser = serial.Serial("/dev/esp", 115200)
[test01-7] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialutil.py", line 244, in __init__
[test01-7] self.open()
[test01-7] File "/home/wjs/.local/lib/python3.10/site-packages/serial/serialposix.py", line 325, in open
[test01-7] raise SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg))
[test01-7] serial.serialutil.SerialException: [Errno 2] could not open port /dev/esp: [Errno 2] No such file or directory: '/dev/esp'
[cartographer_node-5] [WARN] [1753979724.491526002] [cartographer logger]: W0801 00:35:24.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979724.709295995] [cartographer logger]: W0801 00:35:24.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[ERROR] [test01-7]: process has died [pid 2902, exit code 1, cmd '/home/wjs/Drone_Slam/install/fishbot_grapher/lib/fishbot_grapher/test01 --ros-args'].
[cartographer_node-5] [WARN] [1753979724.926728636] [cartographer logger]: W0801 00:35:24.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979725.135525279] [cartographer logger]: W0801 00:35:25.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979725.355498538] [cartographer logger]: W0801 00:35:25.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979725.575934667] [cartographer logger]: W0801 00:35:25.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979725.791681973] [cartographer logger]: W0801 00:35:25.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979725.792889539] [cartographer logger]: W0801 00:35:25.000000 2890 range_data_collator.cc:82] Dropped 154 earlier points.
[cartographer_node-5] [WARN] [1753979726.009195591] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979726.010459952] [cartographer logger]: W0801 00:35:26.000000 2890 range_data_collator.cc:82] Dropped 532 earlier points.
[cartographer_node-5] [WARN] [1753979726.220309676] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979726.437783320] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979726.439136426] [cartographer logger]: W0801 00:35:26.000000 2890 range_data_collator.cc:82] Dropped 542 earlier points.
[cartographer_node-5] [WARN] [1753979726.649371795] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979726.857038597] [cartographer logger]: W0801 00:35:26.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [WARN] [1753979727.064830761] [cartographer logger]: W0801 00:35:27.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-4] [INFO] [1753979727.252864090] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-3] [INFO] [1753979727.252895586] [rclcpp]: signal_handler(signum=2)
[cartographer_occupancy_grid_node-6] [INFO] [1753979727.252922415] [rclcpp]: signal_handler(signum=2)
[cartographer_node-5] [INFO] [1753979727.254331207] [rclcpp]: signal_handler(signum=2)
[cartographer_node-5] [WARN] [1753979727.278186754] [cartographer logger]: W0801 00:35:27.000000 2890 tf_bridge.cpp:53] "odom" passed to lookupTransform argument source_frame does not exist.
[cartographer_node-5] [INFO] [1753979727.299298707] [cartographer logger]: I0801 00:35:27.000000 2890 node.cpp:569] Shutdown the subscriber of [scan]
[cartographer_node-5] [INFO] [1753979727.299538745] [cartographer logger]: I0801 00:35:27.000000 2890 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'...
[cartographer_node-5] [WARN] [1753979727.299999084] [cartographer logger]: W0801 00:35:27.000000 2890 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now.
[cartographer_node-5] [INFO] [1753979727.300107494] [cartographer logger]: I0801 00:35:27.000000 2890 node.cpp:551] Trajectory 0 already pending to finish.
[cartographer_node-5] [INFO] [1753979727.300154006] [cartographer logger]: I0801 00:35:27.000000 2890 map_builder_bridge.cpp:161] Running final trajectory optimization...
[cartographer_node-5] [INFO] [1753979727.300265082] [cartographer logger]: I0801 00:35:27.000000 2953 pose_graph_2d.cc:538] Remaining work items in queue: 0
[cartographer_node-5] [INFO] [1753979727.300400284] [cartographer logger]: I0801 00:35:27.000000 2953 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-5] [INFO] [1753979727.300446870] [cartographer logger]: I0801 00:35:27.000000 2953 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-5] Count: 0
[cartographer_node-5] [WARN] [1753979727.308865144] [cartographer logger]: W0801 00:35:27.000000 2953 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available.
[cartographer_node-5] [INFO] [1753979727.321944840] [cartographer logger]: I0801 00:35:27.000000 2953 pose_graph_2d.cc:538] Remaining work items in queue: 1
[cartographer_node-5] [INFO] [1753979727.322111019] [cartographer logger]: I0801 00:35:27.000000 2953 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-5] [INFO] [1753979727.322155142] [cartographer logger]: I0801 00:35:27.000000 2953 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-5] Count: 0
[cartographer_node-5] [WARN] [1753979727.323773588] [cartographer logger]: W0801 00:35:27.000000 2953 preprocessor.cc:62] Specified options.num_threads: 7 exceeds maximum available from the threading model Ceres was compiled with: 4. Bounding to maximum number available.
[cartographer_node-5] [INFO] [1753979727.356344069] [cartographer logger]: I0801 00:35:27.000000 2954 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-5] [INFO] [1753979727.356515895] [cartographer logger]: I0801 00:35:27.000000 2954 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-5] Count: 0
Optimizing: Done.
[cartographer_node-5] [INFO] [1753979727.441603445] [cartographer logger]: I0801 00:35:27.000000 2952 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
[cartographer_node-5] [INFO] [1753979727.441713595] [cartographer logger]: I0801 00:35:27.000000 2952 constraint_builder_2d.cc:292] Score histogram:
[cartographer_node-5] Count: 0
Optimizing: Done.
[INFO] [static_transform_publisher-3]: process has finished cleanly [pid 2886]
[INFO] [cartographer_occupancy_grid_node-6]: process has finished cleanly [pid 2894]
[INFO] [robot_state_publisher-4]: process has finished cleanly [pid 2888]
[INFO] [cartographer_node-5]: process has finished cleanly [pid 2890]
[sllidar_node-1] [INFO] [1753979727.674903693] [sllidar_node]: Stop motor
[INFO] [sllidar_node-1]: process has finished cleanly [pid 2882]
wjs@wjs-desktop:~/Drone_Slam$
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