ROS 2 stack designed for Metralabs robots that utilize the MIRA framework, including models such as SCITOS, TORY, MORPHIA, etc. This stack comprises several packages, each serving a unique purpose:
License: Apache License 2.0
Required Info:
While I have successfully run the scitos_mira program, I am facing difficulties establishing a connection with the MIRA framework. The topics are initialized and can be discovered in ROS2 but they are not highlighted with any data. Here is the terminal log:
scitos-a5@scitosRobot:~$ ros2 launch scitos_mira default.launch.py
[INFO] [launch]: All log files can be found below /home/scitos-a5/.ros/log/2023-11-23-18- 46-30-587596-scitosRobot-15602
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [scitos_mira-1]: process started with pid [15613] [scitos_mira-1]
[INFO] [1700761591.021914296] [scitos_mira]: Configuring the node... [scitos_mira-1]
[INFO] [1700761591.022312406] [scitos_mira]: Loaded modules: [Charger, Drive] [scitos_mira-1]
[INFO] [1700761591.022464112] [scitos_mira]: Loaded scitos config: /opt/SCITOS/SCITOSRobotAttributes.xml [scitos_mira-1]
[INFO] [1700761593.032911231] [scitos_mira]: Created module: [Charger] [scitos_mira-1]
[INFO] [1700761593.033032946] [scitos_mira]: Created module: [Drive] [scitos_mira-1] [INFO] [1700761593.062896234] [scitos_drive]: The parameter drive.base_frame is set to: [base_link] [scitos_mira-1] [INFO] [1700761593.062951473] [scitos_drive]: The parameter drive.magnetic_barrier_enabled is set to: [true] [scitos_mira-1]
[INFO] [1700761593.062986584] [scitos_drive]: The parameter drive.publish_tf_is set to: [true] [scitos_mira-1]
[INFO] [1700761593.063018987] [scitos_drive]: The parameter drive.reset_bumper_interval is set to: [1000] [scitos_mira-1]
[WARN] [1700761593.063128219] [LifecyclePublisher]: Trying to publish message on the topic '/emergency_stop_status', but the publisher is not activated [scitos_mira-1]
[INFO] [1700761593.066886878] [scitos_mira]: Activating the node...
It has to boot up the whole system and make transition into active state.
What could be wrong with encountered error as I could not trace the the problem?
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