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    Rikuo Hasegawa
    @sp4ghet
    Investigating further to see whether it's the hardware broken or the firmware broken
    This might be that Wire library thing Jake was talking about...
    Rob Baynes
    @rbaynes
    @Spaghet thanks. I’m setting up a local VM so I can play with arduino too
    Bob Davis
    @rwdavis513
    @Spaghet were you able to create any tests to verify each sensor/actuator was working correctly?
    Rikuo Hasegawa
    @sp4ghet
    It's on my list to write a recipe that tries all the actuators
    Bob Davis
    @rwdavis513
    @Spaghet What's the process to upgrade to the new serial protocol? I pulled down the latest changes in develop and flashed the arduino (running scripts/firmware successfully), but am getting this error:
    s. [std_msgs/Bool]{'message_definition': 'float64 data', 'callerid': '/environments/environment_1/topic_filter_1', 'tcp_nodelay': '0', 'md5sum': 'fdb28210bfa9d7c91146260178d9a584', 'topic': '/environments/environment_1/water_level_high/raw', 'type': 'std_msgs/Float64'}
[WARN] [WallTime: 1497566188.836684] Could not process inbound connection: topic types do not match: [std_msgs/Float64] vs. [std_msgs/Bool]{'message_definition': 'float64 data', 'callerid': '/environments/environment_1/topic_filter_1', 'tcp_nodelay': '0', 'md5sum': 'fdb28210bfa9d7c91146260178d9a584', 'topic': '/environments/environment_1/water_level_low/raw', 'type': 'std_msgs/Float64'}
[WARN] [WallTime: 1497566189.133551] Could not process inbound connection: topic types do not match: [std_msgs/Bool] vs. [std_msgs/Float64]{'message_definition': 'bool data', 'callerid': '/environments/environment_1/arduino_handler', 'tcp_nodelay': '0', 'md5sum': '8b94c1b53db61fb6aed406028ad6332a', 'topic': '/environments/environment_1/water_level_high/commanded', 'type': 'std_msgs/Bool'}

    Also, I'm seeing this error from usb cam:

    swscaler @ 0x1093e40] No accelerated colorspace conversion found from yuv422p to rgb24.
[mjpeg @ 0x108e1c0] ignoring invalid SAR: 0/0
[swscaler @ 0x1093e40] No accelerated colorspace conversion found from yuv422p to rgb24.
[mjpeg @ 0x108e1c0] ignoring invalid SAR: 0/0
[swscaler @ 0x1093e40] No accelerated colorspace conversion found from yuv422p to rgb24.
[mjpeg @ 0x108e1c0] ignoring invalid SAR: 0/0
[swscaler @ 0x1093e40] No accelerated col

    Any thoughts?

    Rob Baynes
    @rbaynes
    @rwdavis513 I’m fixing that warning about bool/float
    Rikuo Hasegawa
    @sp4ghet
    The colorspace stuff is from image_saver
    Rikuo Hasegawa
    @sp4ghet
    It works but I guess it doesn't convert using hardware acceleration or something
    Rob Baynes
    @rbaynes
    yay, my clean install on demo-bot shows that I forgot to install a module. +1 for testing from a clean raspbian.
    Bob Davis
    @rwdavis513
    FYI: https://wiki.openag.media.mit.edu/contributors/bob.davis/pfc_docker_troubleshooting
    Bob Davis
    @rwdavis513
    @rbaynes have you built a new docker image for the latest release yet? If not, perhaps we could do so after the PR from Develop to Master
    Rob Baynes
    @rbaynes
    no docker builds yet, i’m still verifying everything on develop works.
    Bob Davis
    @rwdavis513
    @Spaghet I'm getting this warning when I run the new version. Any ideas? [WallTime: 1498064475.956594] Short read, received part of a message:
    Rikuo Hasegawa
    @sp4ghet
    Do you get that consistently or at the beginning of a openag_brain boot
    If it's consistently, Rob is working on it
    if it's just at the beginning, that's normal and expected behaviour
    Bob Davis
    @rwdavis513
    It's consistently...
    Why is it normal to have it in the beginning? can it be fixed?
    Rob Baynes
    @rbaynes
    the brain / serial communication will still work. we have a demo-bot running here since last Friday with that same issue. it prints consistently. It’s a sync issue in the serial protocol. I’m working on it.
    Rikuo Hasegawa
    @sp4ghet
    Since Serial doesn't do any handshaking you might start listening to a message in the middle of it sending one, which means it will be a short read
    and then starting on the second message it will be completely normal
    but if it's constantly writing that warning, it's something that Rob is working on
    Rob Baynes
    @rbaynes
    that is indeed what happens. but then some other stuff happens that is recoverable and constantly happens. rob is on it.
    Bob Davis
    @rwdavis513
    @rbaynes @Spaghet Thank you!
    @Spaghet Were you able to add checksum message verification and retries to the library? Is the checksum failing the reason for this warning message?
    Rikuo Hasegawa
    @sp4ghet
    No checksums but it does retry
    Bob Davis
    @rwdavis513
    ok. Once Rob fixes this first issue we'll want to add that
    Bob Davis
    @rwdavis513
    @Spaghet Does the new protocol confirm the message was received as well?
    Bob Davis
    @rwdavis513
    Here are some good thoughts on how to rst the Arduino code: https://stackoverflow.com/questions/780819/how-can-i-unit-test-arduino-code
    https://github.com/mmurdoch/arduinounit/
    Rob Baynes
    @rbaynes
    thanks @rwdavis513
    Bob Davis
    @rwdavis513
    Here's another great option to assist with debugging Arduino code. it's the visual studio plugin: https://marketplace.visualstudio.com/items?itemName=vsciot-vscode.vscode-arduino
    Bob Davis
    @rwdavis513
    Here's a good reference to help understand how the ros file system works and locate where files are installed:
    http://wiki.ros.org/ROS/Tutorials/NavigatingTheFilesystem
    Rikuo Hasegawa
    @sp4ghet
    Might as well do the whole tutorial while you're at it lol
    http://wiki.ros.org/ROS/Tutorials
    I wonder if there's docs on the inside of a package with its special directory exceptions like node/ and src/ and scripts/ and launch/
    im sure gordon wrote something
    Bob Davis
    @rwdavis513
    @Spaghet Do you know how to install individual ros packages? All I can find are installing them from the apt-get repo or building them from source.
    Rikuo Hasegawa
    @sp4ghet
    Well, those would be the only ways to go about installing a ros package I assume
    Add it's source code to catkin_ws/src or apt-get
    You can get it's source and add it to src using rosinstall_generator, rosdep, and wstool
    Bob Davis
    @rwdavis513
    oh ok...
    Rikuo Hasegawa
    @sp4ghet
    What did you have in mind?
    Bob Davis
    @rwdavis513
    I'm struggling with the usb_cam and trying to get it to work, so I can subscribe to the topic and read the images.
    Rikuo Hasegawa
    @sp4ghet
    It would probably be 
    $ rosinstall_generator usb_cam --rosdistro indigo --deps --wet-only --exclude roslisp --tar >  ./usb_cam.rosinstall`
$ wstool merge -t ~/catkin_ws/src --merge-replace ./usb_cam.rosinstall
$ rosdep install --from-paths ~/catkin_ws/src --ignore-src --rosdistro indigo -y -r --os=debian:jessie
$ catkin_make
    assuming you're in catkin_ws I guess for catkin_make
    If the package is available on rodistro/rosdep then you could add it as a dependency in package.xml and you'd just have to run rosdep install
    available on rosdistro ≒ apt-get
    Bob Davis
    @rwdavis513
    thanks! How do you check if the package is available as a rosdependency?