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turtlebot / turtlebot4

Turtlebot4 common packages.
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Create3 republisher node not running #468

Open mbergman257 opened 3 weeks ago

mbergman257 commented 3 weeks ago

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

ii  ros-humble-turtlebot4-base                        1.0.3-1jammy.20240731.003557            arm64        Turtlebot4 Base Node
ii  ros-humble-turtlebot4-bringup                     1.0.3-1jammy.20240731.132119            arm64        Turtlebot4 Robot Bringup
ii  ros-humble-turtlebot4-description                 1.0.5-1jammy.20240731.131800            arm64        Turtlebot4 Description package
ii  ros-humble-turtlebot4-diagnostics                 1.0.3-1jammy.20240731.005223            arm64        Turtlebot4 Diagnostics
ii  ros-humble-turtlebot4-msgs                        1.0.5-1jammy.20240730.205330            arm64        Turtlebot4 Messages
ii  ros-humble-turtlebot4-navigation                  1.0.5-1jammy.20240731.112247            arm64        Turtlebot4 Navigation
ii  ros-humble-turtlebot4-node                        1.0.5-1jammy.20240731.002306            arm64        Turtlebot4 Node
ii  ros-humble-turtlebot4-robot                       1.0.3-1jammy.20240731.133533            arm64        Turtlebot4 Robot Metapackage
ii  ros-humble-turtlebot4-setup                       1.0.4-1jammy.20240729.103100            arm64        Turtlebot4 setup scripts
ii  ros-humble-turtlebot4-tests                       1.0.3-1jammy.20240730.205422            arm64        Turtlebot4 System Tests

Expected behaviour

When using discovery server, create3 topics are published and available. e.g., ros2 topic echo /battery_state ros2 topic echo /wheel_vels ros2 topic echo /wheel_status

Actual behaviour

  1. Create3 topics are not available via ros2 topic echo
  2. ros2 topic info shows no publisher for create3 topic
  3. no create3 republisher node is found in ros2 node list
  4. undock button does not work

See https://github.com/turtlebot/turtlebot4/issues/462 for screenshots of behavior

Error messages

No response

To Reproduce

  1. Update to latest turtlebot4 packages, or flash pi with latest packages.
  2. Use turtlebot4-setup to configure discovery server according to https://turtlebot.github.io/turtlebot4-user-manual/setup/discovery_server.html

Other notes

No response

mbergman257 commented 1 week ago

I was able to make the discovery server configuration work by giving the robot a namespace through the turtlebot4-setup command. May be related to https://github.com/turtlebot/turtlebot4/issues/425#issuecomment-2283428277, but I'm unsure if the issue is the same, or if they are just similar issues. Unfortunately, I don't have time to look into it more. For the time being, I will be using namespaces.

hilary-luo commented 1 week ago

@mbergman257 Currently there is a bug with Discovery Server that requires a namespace to be present. The fix has already been merged in but is pending iRobot's next release of the create3_republisher.