Cant see topics and data from RPI4 via WiFi on remote PC

[sashag1991]

Please provide the following information:

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

I installed all packages for ROS2 + turtulebot4 on stationary PC. How do I connect turtlebot4 with all the sensors to to stationary PC to run mapping/navigation? Currently turtlebot4 with Create 3 have both IP on same network as stationary PC

[sashag1991]

I followed this tutorial: https://turtlebot.github.io/turtlebot4-user-manual/setup/simple_discovery.html I have wifi connection between remote PC <-> Create 3 and remote PC <-> Rpi4

[ipa-rar]

You should be able to run mapping/navigation on stationary desktop with turtlebot4 just by following this. https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_common.html#navigation slam.launch.pyand nav2.launch.py should be launched on the PC

[sashag1991]

I follow the instructions with these launches:

1. ros2 launch turtlebot4_navigation slam.launch.py
2. ros2 launch turtlebot4_navigation nav2.launch.py

3. ros2 launch turtlebot4_viz view_robot.launch.py

   controller_server-1] [INFO] [1684053542.503579202] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist

echo to topic /scan in remote PC , see nothing :

[sashag1991]

Additionally cant see create 3 topics as battery_status and wheel_status in remote PC

[ipa-rar]

controller_server-1] [INFO] [1684053542.503579202] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist

I had the same issue and this is the absence of base_link -> odom transform. Few things which I have noted are

1. I think this transform will be provided when we launch the slam but this does not work as expected everytime (#167 )
2. Create3 is running out of processing or memory (#147 )
3. There might be a time sync issue which might be causing all these problems (#166 )(#117 )(#62 )(#143 )

I still have not got my tb4 working even after >4 months of work but I would keep a close watch on these issues to fix it. But in my opinion TB4 is not completely reliable and unstable. I will wait for some major updates to roll out.

[sashag1991]

But in the first place I don't see any topic in remote PC. How should I test the topic transfer between TB4 standard (RPI4) with remote PC (desktop with Jammy 22.04)

[ipa-rar]

@sashag1991

1. Did you set the same Domain ID as that of TB4 in the remote PC
2. Did you also set the DDS to be same as TB4

[sashag1991]

Yes, I use fastDDS and domain ID as 0 (by default)

[ipa-rar]

You should also try running the slam.launch on the tb4 and then see

[roni-kreinin]

@sashag1991 Can you try using the Discovery Server?

[sashag1991]

How Discovery Server should help ? I still cant see TB4 topics

[roni-kreinin]

Discovery server allows you to disable the Wi-Fi on the Create 3. The data will only be sent over the USB-C cable and forwarded through the RPi Wi-Fi.

The issue you are having could be caused by the Create 3's Wi-Fi connection, so the discovery server may fix that.

[sashag1991]

Discovery Server indeed helped :).

I cant understand which launch files I should run on TB4 and remote PC to generate a new map?

[roni-kreinin]

Instructions for generating a map can be found here. Basically you will want to run SLAM on either the TB4 or your PC. Both should work, but generally running it on a PC will perform better. Then you can run RViz to visualise the map.

[sashag1991]

I launched the following on the remote PC:

ros2 launch turtlebot4_navigation slam.launch.py sync:=false

ros2 launch turtlebot4_viz view_robot.launch.py

In RVIZ I see nothing, maybe I miss something ?

[roni-kreinin]

Are you able to see data on the /scan topic from your PC?

[sashag1991]

After power cycle it see now the topic and also in RVIZ, but why I cant see the map that it should create ?

[sashag1991]

When I changed the fixed frame to map, I got gloabal status: Error:

[sashag1991]

I also noticed that not all topics exist, I'm missing TB4 topics like : /dock , /wheel_ticks , /wheel_vels, /stereo/camera_info, /stereo/depth and etc'. This is the full topic list I should have (including TB4): /battery_state /clicked_point /cmd_audio /cmd_lightring /cmd_vel /color/preview/camera_info /color/preview/image /diagnostics /diagnostics_agg /diagnostics_toplevel_state /dock /downsampled_costmap /downsampled_costmap_updates /global_costmap/costmap /global_costmap/costmap_updates /global_costmap/voxel_marked_cloud /hazard_detection /imu /initialpose /interface_buttons /ip /ir_intensity /ir_opcode /joint_states /joy /kidnap_status /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 /mobility_monitor/transition_event /mouse /odom /parameter_events /particle_cloud /plan /robot_description /robot_state/transition_event /rosout /scan /slam_toolbox/feedback /slam_toolbox/graph_visualization /slam_toolbox/scan_visualization /slam_toolbox/update /slip_status /static_transform/transition_event /stereo/camera_info /stereo/depth /stop_status /tf /tf_static /waypoints /wheel_status /wheel_ticks /wheel_vels

[roni-kreinin]

Can you paste the output of ip route from your PC?

[sashag1991]

ip route on remote PC :

ip route on turtlebot4

[sashag1991]

192.168.1.45 is the turtlebot4 IP

[roni-kreinin]

@sashag1991 Sorry for the delay.

Could you share the following:

• The application configuration of the Create 3 from the "Application" tab in the webserver
• The contents of /etc/turtlebot4/setup.bash from the RPi4
• The contents of /etc/turtlebot4_discovery/setup.bash from your PC
• The contents of /etc/utrtlebot4_discovery/fastdds_discovery_super_client.xml from your PC

[sashag1991]

@roni-kreinin, Sorry for my delay.

Here are the results:

1. Create 3 from the "Application" tab in the webserver:

2. contents of /etc/turtlebot4/setup.bash :

export CYCLONEDDS_URI=/etc/turtlebot4/cyclonedds_rpi.xml export FASTRTPS_DEFAULT_PROFILES_FILE=/etc/turtlebot4/fastdds_discovery_super_client.xml export ROBOT_NAMESPACE= export ROS_DOMAIN_ID=0 export ROS_DISCOVERY_SERVER=127.0.0.1:11811 export RMW_IMPLEMENTATION=rmw_fastrtps_cpp export TURTLEBOT4_DIAGNOSTICS=1 export WORKSPACE_SETUP=/opt/ros/humble/setup.bash

3. content of /etc/turtlebot4_discovery/setup.bash :

source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_fastrtps_cpp export FASTRTPS_DEFAULT_PROFILES_FILE=/etc/turtlebot4_discovery/fastdds_discovery_super_client.xml export ROS_DISCOVERY_SERVER=192.168.1.45:11811 export ROS_DOMAIN_ID=0

4. content of /etc/utrtlebot4_discovery/fastdds_discovery_super_client.xml

   <?xml version="1.0" encoding="UTF-8" ?>

   SUPER_CLIENT
   192.168.1.45
   11811

[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.

[maalon]

i have the same problem

[maalon]

ros2 topic list from the raspberry pi : /battery_state /cmd_vel /diagnostics /diagnostics_agg /diagnostics_toplevel_state /dock_status /function_calls /hazard_detection /hmi/buttons /hmi/display /hmi/display/message /hmi/led /imu /interface_buttons /ip /joint_states /joy /joy/set_feedback /mouse /oakd/rgb/preview/camera_info /oakd/rgb/preview/image_raw /parameter_events /robot_description /rosout /scan /tf /tf_static /wheel_status ros2 topic list from the pc: /battery_state /cliff_intensity /cmd_audio /cmd_lightring /cmd_vel /dock_status /hazard_detection /imu /interface_buttons /ir_intensity /ir_opcode /kidnap_status /mobility_monitor/transition_event /mouse /odom /parameter_events /robot_state/transition_event /rosout /slip_status /static_transform/transition_event /stop_status /tf /tf_static /wheel_status /wheel_ticks /wheel_vels

[maalon]

when i run ros2 launch turtlebot4_navigation nav2.launch.py that what i got [planner_server-3] [INFO] [1703677499.104104907] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

[hilary-luo]

@maalon Please open your own ticket, rather than commenting on a closed ticket with your own issue. That being said, launching nav2 on its own means that you are launching navigation but that does not provide a map, only the ability to navigate within a map. You need to also launch either slam to create a new map or localization to navigate within a saved map. Please see the information and tutorials on the website: Navigation and SLAM vs Localization and Turtlebot4 Navigator