Help with error in navigation. (Smoother server and localization server sometimes giving trouble when trying to launch navigation)

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

Newer one

Type of issue

Networking

Expected behaviour

I expect the robot to launch everytime without trouble localization and nav2 launch file...

Actual behaviour

Sometimes, I can launch without trouble localization and nav2, but sometimes, I get an error showing timeouts in the smoother server (in the case of nav2), and in localization I get another server error.

Error messages

[smoother_server-2] [WARN] [1700600845.157126823] [smoother_server.rclcpp]: failed to send response to /smoother_server/change_state (timeout): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:314

To Reproduce

Run localization Run Nav2

Other notes

This kind of error did not happen when I had the turtlebot4 in simple discovery, but some other errors happened did happen really often, which involved network connection issues from the iCreate3 base. That is why I changed to discovery server. This setting helps the communication by making it faster and more reliable, but I often get the error shown above, and to fix it I just reboot the robot several times until it works again, sometimes I do not require to do this because it works seamlessly the first time. This behavior brings inconsistency and uncertainty to my project, and that is why I would appreciate a lot if you can show me how to fix it or explain to me why does this happen. An important note is that I always connect via ssh to the robot and launch everything here, which is why I think my computer has not anything to do with the error. I am not that much of a ROS2 expert, which is why I require your help. Thanks a lot btw.

turtlebot / turtlebot4