smatarCPR
commented
3 weeks ago Hello @ValentinLeglise , Thank you for reaching out on the Turtlebot 4 github page. I am very sorry to hear that you are having issues with one of our products.
A couple of questions we have regarding the current issues you are facing:
-
The cmd_vel command you have sent appears to be missing an extra \ character which typically appears following the geometry_msg/msg/Twist argument (see https://turtlebot.github.io/turtlebot4-user-manual/tutorials/driving.html#command-velocity):
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \ "linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 1.0" -
When viewing the repeated messages after sending a cmd_vel command, do the velocity vectors for angular and linear velocity match the command that has been input? An excerpt from the terminal output when a cmd_vel command is published whilst SSH'ed accompanied with an excerpt from a cmd_vel command from the remote computer would be greatly appreciated.
Looking forward to hearing from you soon. Best Regards, Saif M.
aharshac
RustyCPR
Robot Model
Turtlebot4 Standard
ROS distro
Humble
Networking Configuration
Discovery Server
OS
Ubuntu 22.04
Built from source or installed?
Installed
Package version
Package: ros-humble-turtlebot4-desktop Status: install ok installed Priority: optional Section: misc Installed-Size: 41 Maintainer: rkreinin rkreinin@clearpathrobotics.com Architecture: amd64 Version: 1.0.0-1jammy.20240730.174637 Depends: ros-humble-turtlebot4-viz, ros-humble-ros-workspace Description: Turtlebot4 Desktop Metapackage
Type of issue
Networking
Expected behaviour
Follow the setup guide: https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html. Try any network configuration (Simple discovery or discovery Server) Try to control the robot using a shell on my PC, and not SSH inside the Raspeberry. Trying to use the command: ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \ ‘linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 1.0’
Actual behaviour
I followed the installation guide several times to be able to control my TB4 with my PC via Wifi, not by SSH inside the Rb Pi. Each time, i reflashed the SD card and factory reset the Create3.
I've tried both network configurations (Simple discovery or Discovery Server). I'm currently using Discovery Server and I can control the robot using SSH. However, in a shell on my PC, after sourcing, I can see all the topics after making ros2 topic list:
vleglise@pc-front:~$ ros2 topic list /battery_state /cliff_intensity /cmd_audio /cmd_lightring /cmd_vel /color/preview/image /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 /ir_intensity /ir_opcode /joint_states /joy /joy/set_feedback /kidnap_status /mobility_monitor/transition_event /mouse /odom /parameter_events /robot_description /robot_state/transition_event /rosout /scan /slip_status /static_transform/transition_event /stereo/depth /stop_status /tf /tf_static /wheel_status /wheel_ticks /wheel_vels
This proves that i can publish messages on these topics, but when i try this command, nothing happen:
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \ "linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 1.0"
The command loop in the shell but the robot doesn't move. I verified all wired connection and remove the battery during few minutes before reinstalling it.
What can i do ?
Error messages
No response
To Reproduce
Other notes
No response