Unknown mode detected

[rwayong]

Hi, I'm using Roomba 642 and a simple USB-serial connection to connect it to my raspberry pi 3. When first I run roslaunch ca_driver create_2.launch, it outputs [CREATE] Unknown mode detected but I ignore it. Then, I run teleop_joy_keyboard and successfully control my roomba with the keyboard. However, when I try it again, this time when I run roslaunch ca_driver create_2.launch, it gives me an error as below and my roomba freezes. I'm running create_autonomy on ROS kinetic.

pi@pi-desktop:~/catkin_ws$ roslaunch ca_driver create_2.launch 
... logging to /home/pi/.ros/log/93e6802c-306c-11ea-85c7-b827eba5a161/roslaunch-pi-desktop-2378.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://pi-desktop:44355/

SUMMARY
========

PARAMETERS
 * /ca_driver/base_frame: base_footprint
 * /ca_driver/dev: /dev/ttyUSB0
 * /ca_driver/latch_cmd_duration: 0.2
 * /ca_driver/loop_hz: 10.0
 * /ca_driver/odom_frame: odom
 * /ca_driver/publish_tf: True
 * /ca_driver/robot_model: CREATE_2
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    ca_driver (ca_driver/ca_driver)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[ca_driver-1]: started with pid [2431]
process[robot_state_publisher-2]: started with pid [2438]
[ INFO] [1578305369.481359865]: [CREATE] "CREATE_2" selected
[ INFO] [1578305370.552198949]: [CREATE] Connection established.
[ INFO] [1578305370.553044573]: [CREATE] Battery level 49.81 %
[ INFO] [1578305370.808227190]: [CREATE] Ready.
[ERROR] [1578305370.809554949]: [CREATE] Unknown mode detected
[ERROR] [1578305370.909520832]: [CREATE] Unknown mode detected
[ERROR] [1578305371.009491455]: [CREATE] Unknown mode detected
[ERROR] [1578305371.110775420]: [CREATE] Unknown mode detected
[ERROR] [1578305371.209784284]: [CREATE] Unknown mode detected
[ERROR] [1578305371.309791583]: [CREATE] Unknown mode detected
[ERROR] [1578305371.410613726]: [CREATE] Unknown mode detected
[ERROR] [1578305371.509811808]: [CREATE] Unknown mode detected
[ERROR] [1578305371.609841555]: [CREATE] Unknown mode detected
[create::Serial] serial error - End of file
[ERROR] [1578305371.709839584]: [CREATE] Unknown mode detected
[FATAL] [1578305371.711663644]: [CREATE] Runtime error: write: Input/output error
[ INFO] [1578305371.712741767]: [CREATE] Destruct sequence initiated.
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::system::system_error> >'
  what():  write: Input/output error
[ca_driver-1] process has died [pid 2431, exit code -6, cmd /home/pi/catkin_ws/devel_isolated/ca_driver/lib/ca_driver/ca_driver __name:=ca_driver __log:=/home/pi/.ros/log/93e6802c-306c-11ea-85c7-b827eba5a161/ca_driver-1.log].
log file: /home/pi/.ros/log/93e6802c-306c-11ea-85c7-b827eba5a161/ca_driver-1*.log

I really hope you can help me with this error. Thanks!

[jacobperron]

Apologies for not replying sooner. Seeing that "unknown mode detected" error is concerning. It means that it is not correctly reading packets over serial. This probably also explains the driver crashing unexpectedly.

I suggest starting and stopping the driver to try and get the Create into the OFF state (or trying a hard reset by holding down the power button until you hear a reset sound).

I'm going to close this since it seems to be an issue unique to your robot. But feel free to keep commenting if the issue persists (or you found a solution!).

[GrobaxGrappleBlast]

i am experiencing a similar issue with roomba 675, unknown mode detected, I have no idea how to handle the issue. seeing this closed is troubeling since its clearly not an isolated case

[jacobperron]

@GrobaxGrappleBlast Thanks for reporting, it's good to know it may not be an isolated issue.

I don't have a Roomba 6xx, and not able to reproduce. Have you tried resetting the robot as I suggested above?

[vinnnyr]

Just chiming in here, I have gotten this in the foxy port as well, but can get the robot to move with some sequence of restarting the robot and launching the driver. I also have a 600 series robot. Is there some information we should report back to help further drill down this issue?

[hypertechnic]

+1, same "unknown mode detected" error on 675, running melodic on jetson nano

[blaine141]

+1, same "unknown mode detected" error on 694, running kinetic on Raspberry Pi Zero W. I'm going to see if I can find out why only that command is failing.

[eddiem3]

Just happened to me on a 694 w/ a Raspberry PI 3B on melodic. After the unknown mode error started, the Roomba shut off. I think it's bricked now :/

[blaine141]

Hey! A fellow 694! I will say I've been using this code with a 694 and while I do get the message, I've never had any negative consequences and definitely never bricked it

[eddiem3]

Haha yes Team 694! It came back on after I plugged the MDIN back in and ran the launch file again go figure. It still isn't acting the same so I'm trying to factory reset it. You were able to eventually use this package even with the error?

[blaine141]

Yeah, I am using it currently haven't run into any major issues so far but there may be some feature that doesn't work that I haven't used yet.

…

On Fri, Jan 14, 2022, 10:36 PM Eddie Massey III ***@***.***> wrote: Haha yes Team 694! It came back on after I plugged the MDIN back in and ran the launch file again go figure. It still isn't acting the same so I'm trying to factory reset it. You were able to eventually use this package even with the error? — Reply to this email directly, view it on GitHub <#64 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABQRTEZMYR4PCOJXP634PKTUWDTS5ANCNFSM4KDOIB6Q> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. You are receiving this because you commented.Message ID: ***@***.***>