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ROBOTIS-GIT / OpenCR-Binaries

Collection of binary files for platforms using OpenCR
Apache License 2.0
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Robot moves without controller or teleoperation input #18

Open JChoi2527 opened 1 month ago

JChoi2527 commented 1 month ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • [ ] Burger
    • [ ] Waffle
    • [x] Waffle Pi

  2. Which ROS is working with TurtleBot3?

    • [ ] ROS 1 Kinetic Kame
    • [ ] ROS 1 Melodic Morenia
    • [ ] ROS 1 Noetic Ninjemys
    • [ ] ROS 2 Dashing Diademata
    • [ ] ROS 2 Eloquent Elusor
    • [ ] ROS 2 Foxy Fitzroy
    • [x] etc (ROS 2 Humble Hawksbill)

  3. Which SBC(Single Board Computer) is working on TurtleBot3?

    • [ ] Intel Joule 570x
    • [ ] Raspberry Pi 3B+
    • [x] Raspberry Pi 4
    • [ ] etc (Please specify your SBC here)

  4. Which OS you installed on SBC?

    • [ ] Raspbian distributed by ROBOTIS
    • [ ] Ubuntu MATE (16.04/18.04/20.04)
    • [ ] Ubuntu preinstalled server (18.04/20.04)
    • [x] etc (Ubuntu 22.04.5 LTS, as per Turtlebot3 Humble quickstart guide directions)

  5. Which OS you installed on Remote PC?

    • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
    • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
    • [ ] Ubuntu 20.04 LTS (Focal Fossa)
    • [ ] Windows 10
    • [ ] MAC OS X (Specify version)
    • [x] etc (Ubuntu 22.04 LTS)

  6. Specify the software and firmware version(Can be found from Bringup messages)

    • Software version: [x.x.x] (not sure what this means)
    • Firmware version: [0.2.1]

  7. Specify the commands or instructions to reproduce the issue.

    • Turn on OpenCR and Raspberry Pi 4
    • Connect RC-100 controller
    • Disconnect controller
    • Robot will begin to turn in one direction for a second, turn in the other direction for another second, then continue rotating clockwise without any input from controller or teleoperation

  8. Copy and Paste the error messages on terminal.

    • not applicable

  9. Please describe the issue in detail.

    I have ensured that ROS_DOMAIN_ID is set to 30 for both the SBC and remote PC.

    Both the SBC and remote PC are on the same network, though the remote PC is connected via ethernet as it does not have a WiFi card.

    I have tried installing various firmware versions for OpenCR:

    • 0.2.1 (latest): displays behavior
    • 0.2.0: displays behavior
    • 0.1.0: does not display behavior

    I am aware that older firmware versions have an issue with odometry values, so I am hoping to be able to use the latest firmware. However, this random movement makes it difficult to use the robot for testing.

    Please let me know if there is some way to retrieve logs from the OpenCR board if that would help. Thanks in advance!