Rviz fails, SLAM fails too

[rohanchandra-cpe]

Please provide the following information:

• OS: 22.04
• ROS Distro: Humble
• Built from source or installed: Installed

• Package version: "sudo apt install ros-humble-desktop" is how I installed ROS2

  Expected behaviour I should be able to run SLAM and Rviz until I decide to quit. I should also be able to drive the robot for as long as I want and save a copy of the generated map in Rviz.

  Actual behaviour When following this tutorial: https://turtlebot.github.io/turtlebot4-user-manual/tutorials/generate_map.html, Rviz, SLAM, and the teleop_twist_keyboard run for some time, but then all fail. The teleop_twist_keyboard freezes (unable to CTRL+C out of it), errors appear in the simulator, and my robot in Rviz becomes an unmovable block dot.

To Reproduce Provide the steps to reproduce:

1. Follow this tutorial: https://turtlebot.github.io/turtlebot4-user-manual/tutorials/generate_map.html
2. Try generating a map for a period longer than 5 minutes

Other notes Here is a screenshot of what it looks like when everything stop working.

A couple things to notice here:

1. On RViz, my robot has become a black dot. Before it had a bunch of lines coming out of it (which I assume represented the laser scans)
2. In the top left terminal, it says that messages are being dropped because of a timestamp issue or because the queue is full. Is this normal?
3. In the top right terminal, I cannot CTRL+C out of it
4. In the bottom terminal, there are errors related to the left_wheel and right_wheel

[roni-kreinin]

It sounds like the Create 3 stops publishing data at this point. It supplies the odom->base_link transform which you need in order to see the robot on the map, and to get the left/right wheel transforms.

Are you using simple discovery or the discovery server? Also could you share the Create 3 logs from the webserver after this issue occurs?

[rohanchandra-cpe]

@roni-kreinin I'm using the Discovery Server. I only have 1 robot Also, the RPi address changed, so I did the Discovery Server setup again, and it's running longer than I expected Although here you can see I'm still getting that LidarScan error. That topic number keeps increasing btw.

Here are the Create3 logs. It keeps saying the wifi is disconnected, but I assume that's because of the discovery server

[ipa-rar]

@rohanchandra-cpe @roni-kreinin I run through the same set of problems but without using a discovery server. I will update once I have figured out the problem.

Although here you can see I'm still getting that LidarScan error. That topic number keeps increasing btw.

Even though I do not use discovery server, I face this issue too.

It keeps saying the wifi is disconnected, but I assume that's because of the discovery server

With this configuration, the TurtleBot 4 is able to fully function without the Create® 3 being connected to Wi-Fi.(refer)

[ipa-rar]

@roni-kreinin The LaserScan message received number keeps increasing and throws error in rivz. I did not use discovery server in my case.

This is the logs from the create3 base.

[hilary-luo]

This issue is being closed due to inactivity. If you are still experiencing the issue, feel free to reopen this ticket when you are ready to continue the troubleshooting process.