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turtlebot / turtlebot4

Turtlebot4 common packages.
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RViz shows nothing #101

Closed hamidosooli closed 1 year ago

hamidosooli commented 1 year ago

Please provide the following information:

To Reproduce Provide the steps to reproduce: I'm trying to generate a map of the environment using the steps mentioned in the manual.

_To make sure that the RPLIDAR and description nodes are running on the TurtleBot 4 I ssh into the robot and run the following commands: ros2 launch rplidar_ros rplidar.launch.py ros2 launch turtlebot4_description robot_description.launch.py

_Then I open a new CLI, and source my environment (source /opt/ros/galactic/setup.bash), and export the relevant ROS_DOMAIN_ID, ( export ROS_DOMAIN_ID=1, he ros domain ID of the robot is similar. In the ssh'd cli, echo $ROS_DOMAIN_ID shows 1 as well). Following the manual, I run the sync slam by the following command: ros2 launch turtlebot4_navigation slam_sync.launch.py In another cli after running similar commands I use the following command to run RViz (it runs to the mentioned messages) ros2 launch turtlebot4_viz view_robot.launch.py [INFO] [launch]: All log files can be found below /home/hamid/.ros/log/2023-01-30-16-54-54-367145-hamid-Alienware-Aurora-R12-23625 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [23627] [rviz2-1] [INFO] [1675115694.729207981] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1675115694.729304192] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [rviz2-1] [INFO] [1675115694.759640102] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [WARN] [1675115694.831144657] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-1] [WARN] [1675115694.832325717] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-1] [WARN] [1675115694.833558178] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.

Other notes _I have two wifi networks (2.4 GHz and 5GHz) provided by the same router and bridged to each other. Raspberry Pi is connected to my 5GHz network and Create3 is connected to my 2.4 GHz network. The LCD and all of the green leds on the robot are on and I can ssh into the robot. _Turning the ubuntu firewall off, does not affect this issue _Information about nodes and topics on the robot is provided below

ubuntu@ubuntu:~$ ros2 node list WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects. /_internal/composite_hazard /_internal/kinematics_engine /_internal/mobility /analyzers /joy_linux_node /motion_control /rgb_stereo_node /robot_state /robot_state_publisher /robot_state_publisher /rplidar_composition /rplidar_composition /static_transform /system_monitor /teleop_twist_joy_node /turtlebot4_base_node /turtlebot4_diagnostics /turtlebot4_node /ui_mgr

ubuntu@ubuntu:~$ ros2 topic list /battery_state /cmd_audio /cmd_lightring /cmd_vel /color/preview/camera_info /color/preview/image /diagnostics /diagnostics_agg /diagnostics_toplevel_state /dock /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 /mouse /odom /parameter_events /robot_description /robot_state/transition_event /rosout /scan /slip_status /static_transform/transition_event /stereo/camera_info /stereo/depth /stop_status /system_monitor/transition_event /tf /tf_static /wheel_status /wheel_ticks /wheel_vels

roni-kreinin commented 1 year ago

You don't need to launch the rplidar and robot description because they already get launched by the turtlebot4 bringup launch file.

Can you paste the output from the SLAM launch?

Also, can you try switching the Fixed Frame under Global Options to 'odom' in Rviz? You should be able to see the robot model.

hamidosooli commented 1 year ago

Here is the output from the SLAM launch hamid@hamid-Alienware-Aurora-R12:~$ ros2 launch turtlebot4_navigation slam_sync.launch.py [INFO] [launch]: All log files can be found below /home/hamid/.ros/log/2023-01-31-13-35-19-803704-hamid-Alienware-Aurora-R12-7121 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [sync_slam_toolbox_node-1]: process started with pid [7123] [sync_slam_toolbox_node-1] [INFO] [1675190119.889286128] [slam_toolbox]: Node using stack size 40000000 [sync_slam_toolbox_node-1] [INFO] [1675190119.898008405] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver [sync_slam_toolbox_node-1] [INFO] [1675190119.898083966] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.

and here is the Rviz after changing the fixed frame to odom new

roni-kreinin commented 1 year ago

Do you see the same topics calling ros2 topic list from your PC as you saw on the RPi?

hamidosooli commented 1 year ago

No I just see the following:

hamid@hamid-Alienware-Aurora-R12:~$ ros2 topic list /clicked_point /downsampled_costmap /downsampled_costmap_updates /global_costmap/costmap /global_costmap/costmap_updates /global_costmap/voxel_marked_cloud /initialpose /local_costmap/costmap /local_costmap/costmap_updates /local_costmap/published_footprint /local_costmap/voxel_marked_cloud /local_plan /map /map_metadata /map_updates /mobile_base/sensors/bumper_pointcloud /parameter_events /particle_cloud /plan /robot_description /rosout /scan /slam_toolbox/feedback /slam_toolbox/graph_visualization /slam_toolbox/scan_visualization /slam_toolbox/update /tf /tf_static /waypoints

roni-kreinin commented 1 year ago

Have you called export ROS_DOMAIN_ID=1 on your PC? And are you on the same Wi-Fi network as the turtlebot?

hamidosooli commented 1 year ago

yes

roni-kreinin commented 1 year ago

On your PC can you call ros2 multicast receive, then in a separate terminal SSH into the RPi and call ros2 multicast send? Your PC should receive a packet from the RPi.

hamidosooli commented 1 year ago

I did this on the robot

ubuntu@ubuntu:~$ ros2 multicast send Sending one UDP multicast datagram...

However I think the PC has an issue communicating to the robot. It just gets stuck on the following:

hamid@hamid-Alienware-Aurora-R12:~$ ros2 multicast receive Waiting for UDP multicast datagram...

How should I solve this issue?

roni-kreinin commented 1 year ago

You may have a firewall or some other router setting that is blocking multicast packets. Try looking through your router settings.

iRobot just released the new G.4.1 firmware for the Create 3 which adds support for the discovery server. I am working on instructions for setting that up, as well as a new galactic image with this feature. This networking method lets us disconnect the Create 3 from Wi-Fi, and use only the 5GHz WiFi of the RPi, and may also help fix multicast communication issues like yours.

hamidosooli commented 1 year ago

see the following

^Chamid@hamid-Alienware-Aurora-R12:~$ sudo ufw disable [sudo] password for hamid: Firewall stopped and disabled on system startup hamid@hamid-Alienware-Aurora-R12:~$ ifconfig enp4s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 172.16.33.129 netmask 255.255.254.0 broadcast 172.16.33.255 inet6 fe80::dd50:35d2:86f5:f4a4 prefixlen 64 scopeid 0x20 ether 30:d0:42:fe:78:85 txqueuelen 1000 (Ethernet) RX packets 9116 bytes 2968995 (2.9 MB) RX errors 0 dropped 3745 overruns 0 frame 0 TX packets 4764 bytes 1133762 (1.1 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10 loop txqueuelen 1000 (Local Loopback) RX packets 59652 bytes 12189389 (12.1 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 59652 bytes 12189389 (12.1 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

wlp5s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.50.54 netmask 255.255.255.0 broadcast 192.168.50.255 inet6 fe80::cf5d:6c82:fb54:683b prefixlen 64 scopeid 0x20 ether 10:6f:d9:a8:60:eb txqueuelen 1000 (Ethernet) RX packets 10527 bytes 3687517 (3.6 MB) RX errors 0 dropped 1070 overruns 0 frame 0 TX packets 5427 bytes 1028333 (1.0 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

Firewall is disabled and the MULTICAST is active.

roni-kreinin commented 1 year ago

This is on your PC, but your Wi-Fi router may have its own firewall and multicast settings.

hamidosooli commented 1 year ago

Thanks. I tried with a new router and network and everything worked well