Impossible to control TB4 with my PC
ValentinLeglise opened this issue · 6 comments
Robot Model
Turtlebot4 Standard
ROS distro
Humble
Networking Configuration
Discovery Server
OS
Ubuntu 22.04
Built from source or installed?
Installed
Package version
Package: ros-humble-turtlebot4-desktop
Status: install ok installed
Priority: optional
Section: misc
Installed-Size: 41
Maintainer: rkreinin rkreinin@clearpathrobotics.com
Architecture: amd64
Version: 1.0.0-1jammy.20240730.174637
Depends: ros-humble-turtlebot4-viz, ros-humble-ros-workspace
Description: Turtlebot4 Desktop Metapackage
Type of issue
Networking
Expected behaviour
Follow the setup guide: https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html.
Try any network configuration (Simple discovery or discovery Server)
Try to control the robot using a shell on my PC, and not SSH inside the Raspeberry. Trying to use the command: ros2 topic pub /cmd_vel geometry_msgs/msg/Twist
‘linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0’
Actual behaviour
I followed the installation guide several times to be able to control my TB4 with my PC via Wifi, not by SSH inside the Rb Pi. Each time, i reflashed the SD card and factory reset the Create3.
I've tried both network configurations (Simple discovery or Discovery Server). I'm currently using Discovery Server and I can control the robot using SSH. However, in a shell on my PC, after sourcing, I can see all the topics after making ros2 topic list:
vleglise@pc-front:~$ ros2 topic list
/battery_state
/cliff_intensity
/cmd_audio
/cmd_lightring
/cmd_vel
/color/preview/image
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/dock_status
/function_calls
/hazard_detection
/hmi/buttons
/hmi/display
/hmi/display/message
/hmi/led
/imu
/interface_buttons
/ip
/ir_intensity
/ir_opcode
/joint_states
/joy
/joy/set_feedback
/kidnap_status
/mobility_monitor/transition_event
/mouse
/odom
/parameter_events
/robot_description
/robot_state/transition_event
/rosout
/scan
/slip_status
/static_transform/transition_event
/stereo/depth
/stop_status
/tf
/tf_static
/wheel_status
/wheel_ticks
/wheel_vels
This proves that i can publish messages on these topics, but when i try this command, nothing happen:
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist
"linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"
The command loop in the shell but the robot doesn't move. I verified all wired connection and remove the battery during few minutes before reinstalling it.
What can i do ?
Error messages
No response
To Reproduce
- Follow guide
- Choose Discovery Server
- See all topics in User PC's shell
- Run ros2 topic pub /cmd_vel geometry_msgs/msg/Twist
"linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"
Other notes
No response
Hello @ValentinLeglise ,
Thank you for reaching out on the Turtlebot 4 github page. I am very sorry to hear that you are having issues with one of our products.
A couple of questions we have regarding the current issues you are facing:
- The cmd_vel command you have sent appears to be missing an extra \ character which typically appears following the geometry_msg/msg/Twist argument (see https://turtlebot.github.io/turtlebot4-user-manual/tutorials/driving.html#command-velocity):
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
"linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"- When viewing the repeated messages after sending a cmd_vel command, do the velocity vectors for angular and linear velocity match the command that has been input? An excerpt from the terminal output when a cmd_vel command is published whilst SSH'ed accompanied with an excerpt from a cmd_vel command from the remote computer would be greatly appreciated.
Looking forward to hearing from you soon.
Best Regards,
Saif M.