turtlebot/turtlebot4

Create3 republisher node not running

Closed this issue · 5 comments

mbergman257 commented

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

ii  ros-humble-turtlebot4-base                        1.0.3-1jammy.20240731.003557            arm64        Turtlebot4 Base Node
ii  ros-humble-turtlebot4-bringup                     1.0.3-1jammy.20240731.132119            arm64        Turtlebot4 Robot Bringup
ii  ros-humble-turtlebot4-description                 1.0.5-1jammy.20240731.131800            arm64        Turtlebot4 Description package
ii  ros-humble-turtlebot4-diagnostics                 1.0.3-1jammy.20240731.005223            arm64        Turtlebot4 Diagnostics
ii  ros-humble-turtlebot4-msgs                        1.0.5-1jammy.20240730.205330            arm64        Turtlebot4 Messages
ii  ros-humble-turtlebot4-navigation                  1.0.5-1jammy.20240731.112247            arm64        Turtlebot4 Navigation
ii  ros-humble-turtlebot4-node                        1.0.5-1jammy.20240731.002306            arm64        Turtlebot4 Node
ii  ros-humble-turtlebot4-robot                       1.0.3-1jammy.20240731.133533            arm64        Turtlebot4 Robot Metapackage
ii  ros-humble-turtlebot4-setup                       1.0.4-1jammy.20240729.103100            arm64        Turtlebot4 setup scripts
ii  ros-humble-turtlebot4-tests                       1.0.3-1jammy.20240730.205422            arm64        Turtlebot4 System Tests

Expected behaviour

When using discovery server, create3 topics are published and available. e.g.,
ros2 topic echo /battery_state
ros2 topic echo /wheel_vels
ros2 topic echo /wheel_status

Actual behaviour

  1. Create3 topics are not available via ros2 topic echo
  2. ros2 topic info shows no publisher for create3 topic
  3. no create3 republisher node is found in ros2 node list
  4. undock button does not work

See #462 for screenshots of behavior

Error messages

No response

To Reproduce

  1. Update to latest turtlebot4 packages, or flash pi with latest packages.
  2. Use turtlebot4-setup to configure discovery server according to https://turtlebot.github.io/turtlebot4-user-manual/setup/discovery_server.html

Other notes

No response

mbergman257 commented

I was able to make the discovery server configuration work by giving the robot a namespace through the turtlebot4-setup command. May be related to #425 (comment), but I'm unsure if the issue is the same, or if they are just similar issues. Unfortunately, I don't have time to look into it more. For the time being, I will be using namespaces.

hilary-luo commented

@mbergman257 Currently there is a bug with Discovery Server that requires a namespace to be present. The fix has already been merged in but is pending iRobot's next release of the create3_republisher.

  • 👍2
Simba185 commented

@hilary-luo any updates on this?

hilary-luo commented

@Simba185 If I remember correctly the fix on Humble is still only available from source but the fix was released in Jazzy to debian.

Jannkar commented

Hi! Thanks for providing the namespace workaround. I was also struggling with this for quite a while, and this fixed the issue.

When will this fix be released for Humble as a Debian package? To me, this seems like a huge issue if users who use the discovery server with the default settings (no namespace) can't get it working correctly by following the user manual.