Unable to do navigation - Timesync, create3 CPU

swapchal commented 2 months ago

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Windows / MAC

Built from source or installed?

Installed

Package version

unsure

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

Able to navigate to goal pose

Actual behaviour

After setting the goal pose, I the robot does not move and displays some errors. Also create3 hits 100% usage and is not time synching. (delay too high message). I tried to reset and restart ntpd but still occurs.

Error messages

1. 
Behavior Tree tick rate 100.00 was exceeded!
Timed out while waiting for action server to acknowledge goal request for compute_path_to_pose
[planner_server-3] [INFO] [1725246766.923489017] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[bt_navigator-5] [WARN] [1725246766.954822490] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1725246766.954894165] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap.
Message Filter dropping message: frame 'rplidar_link' at time 1725246931.465 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
2.  Create3 timesync is not occuring despite setting the ntpd and following all the steps to sync. it shows up as a client on the Rpi.

To Reproduce

Setup TB4
Run slam and nav2
set initial pose
set goal pose

Other notes

I am running on a virtual machine on windows. I have also been trying to set up the turtlebot4 for a few weeks not with quite a few issues so would really appreciate any help to move on with my project. Thanks

smatarCPR commented 1 month ago

Hello @swapchal Thank you for reaching out on the Turtlebot 4 Github page. I am very sorry to hear that you are having issues with your Turtlebot 4.

I have the following recommendations:

In terms of the Create3 not syncing are you restarting the ntpd on the webserver? Have you modified the ntp.conf on the Create3 per the instructions found here https://github.com/turtlebot/turtlebot4/issues/216 If possible, please try flashing/re-flashing the latest firmware onto the Create3 (https://iroboteducation.github.io/create3_docs/releases/overview/) Should this fail please provide the Create3 logs - https://iroboteducation.github.io/create3_docs/webserver/logs/
In terms of platform do note that currently the only officially supported setup is to have a machine running Ubuntu natively. Is this option available to you (i.e. a computer with Linux installed as its OS)?

Looking forward to hearing from you soon. Best Regards, Saif

swapchal commented 1 month ago

Was able to sort it out thanks

turtlebot / turtlebot4