roni-kreinin
commented
1 year ago @BashByr The OAKD stopped and RPLIDAR stopped messages are from the power saving mode enabled here. This mode calls the rplidar and oakd stop services whenever the robot is docked, and starts them back up when the robot undocks. You are probably not seeing OAK-D data on docked robots because of this.
Regarding red lightring issues and the Create 3 being unresponsive, there are currently some performance issues with FastDDS on the Create 3 when not using the discovery server. The CPU hits 100% and the robot becomes unresponsive. iRobot is looking into it but for now I would recommend switching to CycloneDDS.
If your robot gets into an error state where it won't turn off, press and hold the power button for 20-30s. This will cause a hardware reset of the Create 3.
BashByr
y2d2
Please provide the following information:
Built from source or installed: Source
Expected behaviour When two namespaced TurtleBots connect to the same WiFi, I’d expect them to publish all their topics in the same way they did when they were individually connected with the other one turned off.
Actual behaviour I have confirmed this interference by first booting up one robot, waiting for it to fully connect to WiFi and publish everything, then turn on the second robot. The second robot usually has a hard time connecting to wifi, and usually does not publish all its topics no matter how many times I restart the system using turtlebot4-service-restart (the OAKD topics being one example). Only one robot typically publishes OAKD topics at a time, even after namespacing them. Another instance of this happens where, instead of the second robot not connecting, it successfully connects but the first robot reverts to a red or yellow light ring, and never properly reconnects.
To enable namespacing, did I only have to do that in turtlebot4-setup on the RPI? I suspect something is left without a namespace and begins interfering whenever two robots are connected. As I mentioned, what usually happens is one connects, and the other displays a solid red light ring. I have had great difficulty shutting off a TurtleBot after the solid red light ring is displayed, as it no longer will respond to pressing and holding the power off button to shut it down. Also, since I’m assuming solid red means a wifi/communication issue, I am no longer able to ssh into the RPI to restart anything. When this happens, I typically just leave the robot undocked until it runs out of battery and shuts off. Is there a known way to shut off/reboot a TurtleBot in this state?
To Reproduce
Other notes Is there anything else I need to change in the bottom two screenshots?
I tried looking at the “status” tab in turtlebot4-setup while SSH’d into the RPI to see why one tbot (tbot1) published its OAKD topics but the other (tbot2) did not:
For some reason, tbot2 says “OAKD stopped” and “RPLIDAR stopped” despite restarting the turtlebot4 services. These issues completely resolve when only one TurtleBot is on at a time. Could this be a problem between Create3 and my router?