Open alexswerner opened 6 days ago
We replaced the drive units of the base which did not fix the issue.
It looks like a bumper sensor is being triggered when starting to drive.
After cleaning the bumper inside I'm still getting:
header:
stamp:
sec: 0
nanosec: 0
frame_id: base_link
detections:
- header:
stamp:
sec: 1727197777
nanosec: 639798548
frame_id: base_link
type: 0
---
header:
stamp:
sec: 0
nanosec: 0
frame_id: base_link
detections:
- header:
stamp:
sec: 1727197777
nanosec: 991799204
frame_id: base_link
type: 0
---
header:
stamp:
sec: 0
nanosec: 0
frame_id: base_link
detections: []
---
And after this the robot still stops/turns around.
And /ir_intensity
is showing:
---
header:
stamp:
sec: 1727197947
nanosec: 740484766
frame_id: base_link
readings:
- header:
stamp:
sec: 1727197947
nanosec: 740484766
frame_id: ir_intensity_side_left
value: 0
- header:
stamp:
sec: 1727197947
nanosec: 740484766
frame_id: ir_intensity_left
value: 3
- header:
stamp:
sec: 1727197947
nanosec: 740484766
frame_id: ir_intensity_front_left
value: 0
- header:
stamp:
sec: 1727197947
nanosec: 740484766
frame_id: ir_intensity_front_center_left
value: 1
- header:
stamp:
sec: 1727197947
nanosec: 740484766
frame_id: ir_intensity_front_center_right
value: 4
- header:
stamp:
sec: 1727197947
nanosec: 740484766
frame_id: ir_intensity_front_right
value: 0
- header:
stamp:
sec: 1727197947
nanosec: 740484766
frame_id: ir_intensity_right
value: 1
---
Where all values are flickering from 0-4.
Setting reflexes_enabled: false
in the motion_control yaml configuration does fix the behavior. My guess is that the bumper electronics have an issue (since it affects all bumpers). Temporarily this is acceptable but some functionality of the base is apparently still impacted - automatic docking does not work.
Hi there Alexander for creating this ticket.
I'm sorry to see your TB4 is experiencing this issue.
Could you please replicate your concern and then please share the Create3 logs?
Big thanks,
Rusty
Robot Model
Turtlebot4 Standard
ROS distro
Humble
Networking Configuration
Discovery Server
OS
Ubuntu 22.04
Built from source or installed?
Built from Source
Package version
Base: H2.6.
Expected behaviour
The robot should move forward or backward in a straight line when commanded to do so.
Actual behaviour
When commanding the robot to drive forward, the robot is spinning on the spot, alternating between clock-wise and counter-clock-wise every 500ms. The same happens when command backwards.
Error messages
To Reproduce
Launch console application for keyboard teleoperation. Command the robot to move forward and backwards.
Other notes
Performed factory reset of the base, but this did not change the behavior.