Top and bottom of the robot have different ROS_DOMAIN_IDs

turtlebot / turtlebot4

Turtlebot4 common packages.

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Top and bottom of the robot have different ROS_DOMAIN_IDs #397

Closed hamidosooli closed 2 months ago

hamidosooli commented 2 months ago

Robot Model

Turtlebot4 Standard

ROS distro

Galactic

Networking Configuration

Simple Discovery

OS

Ubuntu 20.04

Built from source or installed?

Installed

Package version

0.1.3-1focal.20220916.172555

Type of issue

Networking

Expected behaviour

When we set the ROS_DOMAIN_ID from the browser it should be set for both top and the bottom.

Actual behaviour

Modified ROS_DOMAIN_ID for the top is different from the bottom

Error messages

No response

To Reproduce

We connect a monitor and a keyboard to the Raspberry-pi board, and check the ROS_DOMAIN_ID and its different from what we set__we set it to 5 and it goes back to 0 when we restart the robot.

Other notes

No response

MikeDegany commented 2 months ago

On the webserver, you switch up the Domain ID for Create3 (the thing you're likely talking about as 'bottom'.) To change it for RPi you should dive into turtlebot4-setup and change ROS_DOMAIN_ID in bash settings.

Mikef220 commented 2 months ago

turtlebot4-setup is for ros2 Humble, not Galactic Where would the startup bash file be located for Galactic?

MikeDegany commented 2 months ago

My apologies! I did not know that Galactic doesn't have turtlebot4-setup tool. By the way, you could try doing export ROS_DOMAIN_ID=0, it might sort out your issue.

Mikef220 commented 2 months ago

We've tried doing export ROS_DOMAIN_ID=5 however that then sets the domain ID to an empty string (as in echo $ROS_DOMAIN_ID then yields blank space). We've tried just ROS_DOMAIN_ID=5 without the export which does set the domain ID to 5, however with both of these it then reverts back to 0 upon restarting the Turtlebot, causing all of the functions that begin on start up to run on ID 0. Thank you for your suggestions though

RustyCPR commented 2 months ago

Hi @hamidosooli We recommend you update to ROS2 Humble - it has the latest updates and features.

export ROS_DOMAIN_ID=# in ROS2 Galactic will only update the domain ID in the active terminal.
Review this: https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_setup.html#configuration-tools ROSconfig.sh should be used to update ROS_Domain in Galactic.

Regards, Rusty