Pi not properly receiving battery or data from Create3, ros2 topic list empty

tharukakk1 commented 1 month ago

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Select One

Package version

ROS2 Humble

Type of issue

Networking

Expected behaviour

all topics should appear in Pi ssh terminal when I run $ros2 topic list
all topics should appear in desktop computer terminal when I run $ros2 topic list (ros domain id is set to 0, matching the robot)
onboard screen should show correct battery level, btn 1-4 buttons should function and control the robot
all of the above functionality should continue after reboot

In short, I'm trying to set up Simple Discovery on the robot. The ros2 topics are going missing from the Pi when I try to achieve this.

Actual behaviour

$ros2 topic list in Pi's terminal only shows /parameter_events and /rosout
desktop's terminal $ros2 topic list also only shows /parameter_events & /rosout, even when the Pi showed the full list
onboard screen shows 0% battery even though Create3 webserver shows 98%. buttons don't control screen, nor does the undock button get the robot to move.
the first and the third point worked as intended yesterday. As part of setting up Simple Discovery, I rebooted the robot. it stopped working after reboot. Robot has been charging continuously overnight. Tried rebooting several times.
I have two standard tb4's which is why i'm trying to set up simple discovery. If Discovery Server is the better method, please let me know. The second tb4 is not set up on the network yet.

Error messages

No response

To Reproduce

turn on tb4 using dock
wait for full start up (~30 mins to be safe)
confirm functionality using light ring as an indicator
open create3 webserver, confirm all settings are there, and battery state in About
open ssh terminal $ssh ubuntu@[ip address]
run $ros2 topic list in Pi terminal

Other notes

edit: removed typo in To Reproduce section

No response

tharukakk1 commented 1 month ago

Update: The onboard screen fully works; I'm even able to use the "btn" buttons to undock and dock the robot. All of the topics show up in the Pi's terminal and they all have the namespace I assigned.

What's Not Working:

running ROS tests in Pi's terminal
running teleop commands in Pi's terminal
running teleop commands in desktop's terminal

What can I do to get Simple Discovery working? The network I'm using is my own router with only a few devices connected to it, but that router gets its internet from my university network.

RustyCPR commented 2 weeks ago

Hi there @tharukakk1 We recommend using Discovery Server

Let us know if you have any concerns or questions, Rusty

turtlebot / turtlebot4