Missing Subscriber, Connection between RPi4 and Create3 via USB

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

PC: dpkg -l | grep turtlebot4 ii ros-humble-turtlebot4-description 1.0.5-1jammy.20240822.152955 amd64 Turtlebot4 Description package ii ros-humble-turtlebot4-desktop 1.0.0-1jammy.20240822.174439 amd64 Turtlebot4 Desktop Metapackage ii ros-humble-turtlebot4-ignition-bringup 1.0.2-1jammy.20240824.193140 amd64 TurtleBot 4 Ignition Simulator bringup ii ros-humble-turtlebot4-ignition-gui-plugins 1.0.2-1jammy.20240728.203144 amd64 Turtlebot4 Ignition Simulator GUI Plugins ii ros-humble-turtlebot4-ignition-toolbox 1.0.2-1jammy.20240728.225150 amd64 Turtlebot4 Ignition Toolbox ii ros-humble-turtlebot4-msgs 1.0.5-1jammy.20240728.215722 amd64 Turtlebot4 Messages ii ros-humble-turtlebot4-navigation 1.0.5-1jammy.20240824.192601 amd64 Turtlebot4 Navigation ii ros-humble-turtlebot4-node 1.0.5-1jammy.20240728.225044 amd64 Turtlebot4 Node ii ros-humble-turtlebot4-simulator 1.0.2-1jammy.20240824.193207 amd64 TODO: Package description ii ros-humble-turtlebot4-viz 1.0.0-1jammy.20240822.174054 amd64 Visualization launchers and helpers for Turtlebot4

RPi-4: dpkg -l | grep turtlebot4 ii ros-humble-turtlebot4-base 1.0.3-1jammy.20240731.003557 arm64 Turtlebot4 Base Node ii ros-humble-turtlebot4-bringup 1.0.3-1jammy.20240824.181335 arm64 Turtlebot4 Robot Bringup ii ros-humble-turtlebot4-description 1.0.5-1jammy.20240822.152608 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.20240824.203516 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.20240824.182049 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

RPi4 Image flashed to: turtlebot4_lite_humble_1.0.4 (latest)

Create3-Version: H.2.6 (Humble latest)

Type of issue

Networking

Expected behaviour

The TB4 is not Executing any Nodes. (Missing Subscriber) The TB4 is not Executing any Actions (Waiting for an action server to become available...) After configuring a Republisher from following: https://github.com/iRobotEducation/create3_examples/tree/humble/create3_republisher

Even if I try to run the Nodes/Actions on the RPi4 itself in my ssh-session.

Used nodes: ros2 run turtlebot4_tests ros_tests ros2 run teleop_twist_keyboard teleop_twist_keyboard

Used actions: ros2 action send_goal /repub/undock irobot_create_msgs/action/Undock "{}"

Actual behaviour

ros2 run turtlebot4_tests ros_tests 8 -> Tb4_lite There is generally no reaction.

Step There is no LED-lightring changing,
Step Pressing the Create Buttons are causing no reaction.

ros2 run teleop_twist_keyboard teleop_twist_keyboard

using Keys are causing no reaction.

Error messages

(RPi4) ros2 doctor
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: pid_controller has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_eigen has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: diff_drive_controller has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_ros has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tricycle_steering_controller has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: forward_command_controller has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: range_sensor_broadcaster has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_tools has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: force_torque_sensor_broadcaster has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: ros2_controllers has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_bullet has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_kdl has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2 has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: hardware_interface has been updated to a new version. local: 2.43.0 < latest: 2.43.1
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_geometry_msgs has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: imu_sensor_broadcaster has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tricycle_controller has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: bicycle_steering_controller has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: teleop_twist_joy has been updated to a new version. local: 2.4.6 < latest: 2.4.7
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_eigen_kdl has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: steering_controllers_library has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: velocity_controllers has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: robot_upstart has been updated to a new version. local: 1.0.3 < latest: 1.0.4
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: admittance_controller has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: joint_state_broadcaster has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_ros_py has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: geometry2 has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: position_controllers has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_msgs has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: effort_controllers has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: joint_trajectory_controller has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_sensor_msgs has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: controller_interface has been updated to a new version. local: 2.43.0 < latest: 2.43.1
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: tf2_py has been updated to a new version. local: 0.25.7 < latest: 0.25.8
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: ackermann_steering_controller has been updated to a new version. local: 2.37.2 < latest: 2.37.3
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_backup_limit.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/active_buttons.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/active_hazards.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/active_ir_accessories.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/battery_raw_data.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/bump_mask.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/cliff_mask.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/cliff_raw.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/clutter.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/commanded_vels_ramped.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/composite_hazard/transition_event.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/dead_reckoning_pose.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/hazard_reactor_seq_num.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/imu_linear_accel.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/imu_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/integrated_wheel_ticks.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/ir_codes.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/ir_intensity.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/kidnap_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/kinematics_engine/transition_event.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/measured_wheel_vels.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/mobility/transition_event.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/mouse_raw.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/orientation.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/slip_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/slip_status_raw.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/stall_mask.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/stasis/transition_event.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/stasis_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/stop_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/wheels_command.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/wheels_drops.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/_internal/wheels_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/audio_note_sequence/_action/feedback.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/audio_note_sequence/_action/status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/battery_state.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/cliff_intensity.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/cmd_lightring.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/dock/_action/feedback.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/dock/_action/status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/dock_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/drive_arc/_action/feedback.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/drive_arc/_action/status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/drive_distance/_action/feedback.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/drive_distance/_action/status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/hazard_detection.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/imu.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/interface_buttons.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/ir_intensity.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/ir_opcode.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/kidnap_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/led_animation/_action/feedback.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/led_animation/_action/status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/mobility_monitor/transition_event.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/mouse.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/navigate_to_position/_action/feedback.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/navigate_to_position/_action/status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/odom.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/robot_state/transition_event.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/rotate_angle/_action/feedback.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/rotate_angle/_action/status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/slip_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/static_transform/transition_event.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/stop_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/tf.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/tf_static.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/undock/_action/feedback.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/undock/_action/status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/wall_follow/_action/feedback.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/wall_follow/_action/status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/wheel_status.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/wheel_ticks.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /_do_not_use/wheel_vels.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /cmd_vel.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /diagnostics.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /diagnostics_agg.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /diagnostics_toplevel_state.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /function_calls.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /ip.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /joint_states.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /joy.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /oakd/rgb/preview/camera_info.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /oakd/rgb/preview/image_raw.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /robot_description.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /scan.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /tf.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/topic.py: 42: UserWarning: Publisher without subscriber detected on /tf_static.

All 5 checks passed
_________________________________________________________________________________________________

Execute an Action with Republisher in 2nd Terminal:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
    export FASTRTPS_DEFAULT_PROFILES_FILE=~/ws/src/create3_examples/create3_republisher/dds-config/fastdds-passive-unicast.xml
    ros2 daemon stop
    ros2 topic echo /repub/tf
ros2 action send_goal /repub/undock irobot_create_msgs/action/Undock "{}"

WARNING: topic [/repub/tf] does not appear to be published yet
Could not determine the type for the passed topic
Waiting for an action server to become available...
Sending goal:
     {}

Goal accepted with ID: 572132d75c844415bb64ac99366ec2fe

Using only "ros2 topic echo /repub/tf" 
without stoping the daemon etc. gives an echo.

To Reproduce

ssh ubuntu@ip
ros2 run turtlebot4_tests ros_tests

Other notes

The discovery server is setup like the description (TB4 Basic Setup) and should generally run on the RPi4 correctly. Running talker/listener testnodes between PC and RPi4 worked well.

It looks like the RPi4 and the Create3 are not communicating correctly via usb because of the missing Subscriber. The Button on the Create3 itself is set to Data per USB (no bluetooth).

Robot Name is blank. The Create3 got automatically following namespace: /_do_not_use

The Clocks are not synchronised. The all red lines of the Create3Logs are shown in the picture, the Logs are copied as .txt

Screenshot from 2024-09-19 11-20-05 Create3Log.txt

turtlebot / turtlebot4