tof_node.py is trying to open i2c-13 which does not exist, causing duckiebot-interface to restart

[mjmdavis]

I'm on DB21M.

Here's a docker logs duckiebot-interface extract:

[INFO] [1612482947.918640]: [/ducky/front_center_tof_driver_node] Initializing...
[INFO] [1612482948.128942]: [/ducky/front_center_tof_driver_node] Health status changed [STARTING] -> [STARTED]
Traceback (most recent call last):
File "/code/catkin_ws/src/dt-duckiebot-interface/packages/tof_driver/src/tof_node.py", line 152, in
node = ToFNode()
File "/code/catkin_ws/src/dt-duckiebot-interface/packages/tof_driver/src/tof_node.py", line 61, in init
self._sensor.open()
File "/usr/local/lib/python3.8/dist-packages/dt_vl53l0x/VL53L0X.py", line 125, in open
self._i2c.open(bus=self._i2c_bus)
File "/usr/local/lib/python3.8/dist-packages/smbus2/smbus2.py", line 310, in open
self.fd = os.open(filepath, os.O_RDWR)
FileNotFoundError: [Errno 2] No such file or directory: '/dev/i2c-13'

Here's the list of i2c interfaces I see:

$ ls /dev/i2*
/dev/i2c-0 /dev/i2c-1 /dev/i2c-2 /dev/i2c-3 /dev/i2c-4 /dev/i2c-5 /dev/i2c-6

duckiebot-interface_log.txt

[mjmdavis]

Should it really be opening I2C bus 13? Is this a config error or are the I2C buses not coming up on my DB21M? https://github.com/duckietown/dt-duckiebot-interface/blob/daffy/packages/tof_driver/config/tof_node/front_center.yaml#L1

[mjmdavis]

@afdaniele Do you know what my next steps should be?

[Ezward]

I found the same thing. Jetson nano can use I2C buses 0 and 1. So the config seems incorrect, at least for a Jetson Nano. Further the PCA9685 code and the SSD1306 OLED display code both assume I2C bus 1 and they work correctly.