stella_teleop 모터 구동 문제 > STELLA_N2_Forum

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STELLA N2 SBC 버전: STELLA N2

REMOTE PC 버전: Ubuntu 20.04

ROS 버전: ROS2 foxy

안녕하세요.
원격pc에서 키보드로 로봇을 구동하고 싶은데,
MYBOX에서 받은 이미지에는 stella_teleop 패키지가 없는 것으로 확인됐습니다. 그래서 STELLA_REMOTE_ROS2_N2_v2.0 저장소를 클론하고
그 내부에 있는 stella_teleop  패키지를 클론 빌드 했고, 각각 다른 ssh 터미널에서 한 쪽은 bringup launch.py 실행하고, 한 쪽은 keyboard 실행했는데
여전히 모터 구동이 되지 않습니다. 아래와 같이 stella_md_node가 켜졌다는 신호는 받았는데, 그 이후로는 종료됐다는 응답도, 다른 응답도 없습니다.
( [INFO] [stella_md_node-3]: process started with pid [1717] ) 어떻게 해결해야 하나요?




i@raspberrypi:~ $ ros2 launch stella_bringup robot.launch.py

[INFO] [launch]: All log files can be found below /home/pi/.ros/log/2025-07-24-01-02-20-177961-raspberrypi-1701

[INFO] [launch]: Default logging verbosity is set to INFO

urdf_file_name : stella.urdf

/home/pi/ros_colcon_ws/build/launch_ros/launch_ros/actions/lifecycle_node.py:84: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead

  warnings.warn("The parameter 'node_name' is deprecated, use 'name' instead")

/home/pi/ros_colcon_ws/build/launch_ros/launch_ros/actions/lifecycle_node.py:95: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead

  super().__init__(name=name, namespace=namespace, **kwargs)

/home/pi/ros_colcon_ws/build/launch_ros/launch_ros/actions/node.py:190: UserWarning: The parameter 'node_namespace' is deprecated, use 'namespace' instead

  warnings.warn("The parameter 'node_namespace' is deprecated, use 'namespace' instead")

/home/pi/colcon_ws/install/ydlidar_ros2_driver/share/ydlidar_ros2_driver/launch/ydlidar_launch.py:49: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead

  arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],

/home/pi/colcon_ws/install/ydlidar_ros2_driver/share/ydlidar_ros2_driver/launch/ydlidar_launch.py:49: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead

  arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],

[INFO] [stella_md_node-3]: process started with pid [1717]

[INFO] [ydlidar_ros2_driver_node-4]: process started with pid [1718]

[INFO] [stella_ahrs_node-6]: process started with pid [1720]

[INFO] [robot_state_publisher-1]: process started with pid [1715]

[INFO] [joint_state_publisher-2]: process started with pid [1716]

[INFO] [static_transform_publisher-5]: process started with pid [1719]

[stella_ahrs_node-6] 

[stella_ahrs_node-6] PortName : /dev/AHRS Connect OK 

[stella_ahrs_node-6] 

[robot_state_publisher-1] Parsing robot urdf xml string.

[robot_state_publisher-1] Link base_link had 2 children

[robot_state_publisher-1] Link imu_link had 0 children

[robot_state_publisher-1] Link base_scan had 0 children

[ydlidar_ros2_driver_node-4] [INFO] [1753286541.474837191] [ydlidar_ros2_driver_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1

[ydlidar_ros2_driver_node-4] 

[robot_state_publisher-1] [INFO] [1753286541.480281834] [robot_state_publisher]: got segment base_footprint

[robot_state_publisher-1] [INFO] [1753286541.485050983] [robot_state_publisher]: got segment base_link

[robot_state_publisher-1] [INFO] [1753286541.485173704] [robot_state_publisher]: got segment base_scan

[robot_state_publisher-1] [INFO] [1753286541.485222000] [robot_state_publisher]: got segment imu_link

[ydlidar_ros2_driver_node-4] [YDLIDAR] SDK initializing

[ydlidar_ros2_driver_node-4] [YDLIDAR] SDK has been initialized

[ydlidar_ros2_driver_node-4] [YDLIDAR] SDK Version: 1.1.21

[static_transform_publisher-5] [INFO] [1753286541.519001610] [static_tf_pub_laser]: Spinning until killed publishing transform from 'base_link' to 'laser_frame'

[ydlidar_ros2_driver_node-4] [YDLIDAR] Lidar successfully connected [/dev/YDLIDAR:128000]

[ydlidar_ros2_driver_node-4] [YDLIDAR] Lidar running correctly! The health status: good

[ydlidar_ros2_driver_node-4] [YDLIDAR] Lidar init success, Elapsed time 638 ms

[ydlidar_ros2_driver_node-4] [YDLIDAR] Fail to get baseplate device information

[ydlidar_ros2_driver_node-4] [YDLIDAR] Start to getting intensity flag

[ydlidar_ros2_driver_node-4] [YDLIDAR] Auto set intensity 0

[ydlidar_ros2_driver_node-4] [YDLIDAR] End to getting intensity flag

[ydlidar_ros2_driver_node-4] [YDLIDAR] Create thread 0xAF4FEC40

[ydlidar_ros2_driver_node-4] [YDLIDAR] Successed to start scan mode, Elapsed time 3168 ms

[ydlidar_ros2_driver_node-4] [YDLIDAR] Module device info

[ydlidar_ros2_driver_node-4] Firmware version: 3.1

[ydlidar_ros2_driver_node-4] Hardware version: 3

[ydlidar_ros2_driver_node-4] Model: S2PRO

[ydlidar_ros2_driver_node-4] Serial: 2024082400091201

[ydlidar_ros2_driver_node-4] [YDLIDAR] Fixed Size: 720

[ydlidar_ros2_driver_node-4] [YDLIDAR] Sample Rate: 5.00K

[stella_ahrs_node-6] [AHRS INFO] AHRS_Calibration OK

[stella_ahrs_node-6] 

[ydlidar_ros2_driver_node-4] [YDLIDAR] Fixed Size: 720

[ydlidar_ros2_driver_node-4] [YDLIDAR] Sample Rate: 5.00K

[ydlidar_ros2_driver_node-4] [YDLIDAR] Fixed Size: 720

[ydlidar_ros2_driver_node-4] [YDLIDAR] Sample Rate: 5.00K

[ydlidar_ros2_driver_node-4] [YDLIDAR] Single Fixed Size: 420

[ydlidar_ros2_driver_node-4] [YDLIDAR] Sample Rate: 5.00K

[ydlidar_ros2_driver_node-4] [YDLIDAR] Successed to check the lidar, Elapsed time 259 ms

[ydlidar_ros2_driver_node-4] [YDLIDAR] Now lidar is scanning...

[stella_ahrs_node-6] [AHRS INFO] AHRS_Euler_RESET OK

[stella_ahrs_node-6] 

[stella_ahrs_node-6] [AHRS INFO] ACC, GYR, DEG, MAG / 10ms / binary 

[stella_ahrs_node-6] [AHRS INFO] RUN ....

[stella_ahrs_node-6]