Problem in the /scan topic of turtlebot4 Lite

[yoraoui]

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

humble

Expected behaviour

Hello, I expect that the /scan topic returns the data of the Lidar.

Actual behaviour

I don't receive any data from the lidar after I run these commands: ros2 service call /stop_motor std_srvs/srv/Empty {} ros2 service call /stop_motor std_srvs/srv/Empty {}

Also the Lidar spinning interrupts.

Error messages

Jan 07 12:41:57 ubuntu turtlebot4-start[1074]: [rplidar_composition-4] [ERROR] [1704631317.857308900] [rplidar_composition]: Failed to set scan mode
Jan 07 12:41:59 ubuntu turtlebot4-start[1074]: [rplidar_composition-4] [INFO] [1704631319.858090337] [rplidar_composition]: Start

To Reproduce

Other notes

No response

[hilary-luo]

@yoraoui That service is for the lidar motor and if you stop the lidar motor then it will be stopped and will not report data anymore. Start the lidar motor to resume getting data. Reassigning this issue as a troubleshooting issue.

[yoraoui]

I stopped and restarted with

ros2 service call /start_motor std_srvs/srv/Empty {}

However, the issue is still happening.

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Pr. RAOUI Younès Physics department, Laboratory Conception and Systems, Faculty of Sciences, University Mohammed V in Rabat, Adress : 4 Avenue Ibn Battouta, B.P. 1014, Rabat, Morocco, GSM : +212 6 59 86 27 05 Email : @.***

Le lun. 8 janv. 2024 à 16:57, Hilary Luo @.***> a écrit :

@yoraoui https://github.com/yoraoui If you stop the lidar then it will be stopped and will not report data anymore. Start the lidar motor to resume getting data. Reassigning this issue as a troubleshooting issue.

— Reply to this email directly, view it on GitHub https://github.com/turtlebot/turtlebot4/issues/337#issuecomment-1881347583, or unsubscribe https://github.com/notifications/unsubscribe-auth/AMLOFUQWEA6YVM2X2F4XSQTYNQJOBAVCNFSM6AAAAABBRUOXN2VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQOBRGM2DONJYGM . You are receiving this because you were mentioned.Message ID: @.***>

[RustyCPR]

Hi @yoraoui, What occurs when you run the lidar with the command: ros2 launch turtlebot4_bringup rplidar.launch.py ?

If you still don't see anything on the /scan topic can you please verify the RPLIDAR UDEV rules exist and try installing it again by following these instructions: https://turtlebot.github.io/turtlebot4-user-manual/software/sensors.html#connecting