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turtlebot / turtlebot4

Turtlebot4 common packages.
Apache License 2.0
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Can't drive TurtleBot4 #490

Open kylechen357 opened 3 weeks ago

kylechen357 commented 3 weeks ago

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

1.0.0-1jammy.20240830.234728

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

I want to use teleop_twist_keyboard to drive my TurtleBot 4

Actual behaviour

When I click the keyboard, nothing happened. User PC ros2 topics: /battery_state /cmd_vel /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 /joint_states /joy /joy/set_feedback /mouse /oakd/rgb/preview/image_raw /parameter_events /robot_description /rosout /scan /tf /tf_static /wheel_status TurtleBot 4 ros2 topics: /battery_state /cliff_intensity /cmd_audio /cmd_lightring /cmd_vel /diagnostics /diagnostics_agg /diagnostics_toplevel_state /dock_status /hazard_detection /hmi/buttons /hmi/display/message /hmi/led /imu /interface_buttons /ir_intensity /ir_opcode /joint_states /joy /kidnap_status /mobility_monitor/transition_event /mouse /oakd/rgb/preview/image_raw /odom /parameter_events /robot_description /robot_state/transition_event /rosout /scan /slip_status /static_transform/transition_event /stop_status /tf /tf_static /wheel_status /wheel_ticks /wheel_vels

Error messages

No response

To Reproduce

~

Other notes

No response

smatarCPR commented 2 weeks ago

Hello @kylechen357 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. I have a couple of questions regarding the state of the Turtlebot:

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

kylechen357 commented 2 weeks ago

@smatarCPR Thanks for the response, here to answer some questions you ask:

  1. When we bought the TurtleBot 4 lite, it doesn't give us the Bluetooth controller.
  2. Either TurtleBot undocked or docked were both tested, they all don't get any response.
  3. I were using the command of 'ros2 run teleop_twist_keyboard teleop_twist_keyboard' to enable keyboard teleop.
  4. The log file is attached in this comment, and glad to hear the response from you. Thanks. messages.txt
smatarCPR commented 2 weeks ago

Hello @kylechen357 , Thank you for sending these. We'll take a look and let you know if we find anything. In the meantime I have a quick follow up question: does publishing a cmd_vel command work?

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \ "linear: x: 0.5 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0"

Let me know the results of this check. Looking forward to hearing from you soon. Best Regards, Saif

kylechen357 commented 2 weeks ago

Dear @smatarCPR , Thanks for the response. And I have tested the command above that you mentioned in both user PC and TB4 environment. Both run the error: Traceback (most recent call last): File "/opt/ros/humble/bin/ros2", line 33, in sys.exit(load_entry_point('ros2cli==0.18.11', 'console_scripts', 'ros2')()) File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 91, in main rc = extension.main(parser=parser, args=args) File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/command/topic.py", line 41, in main return extension.main(args=args) File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/pub.py", line 222, in main return main(args) File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/pub.py", line 240, in main return publisher( File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/pub.py", line 271, in publisher values_dictionary = yaml.safe_load(values) File "/usr/lib/python3/dist-packages/yaml/init.py", line 162, in safe_load return load(stream, SafeLoader) File "/usr/lib/python3/dist-packages/yaml/init.py", line 114, in load return loader.get_single_data() File "/usr/lib/python3/dist-packages/yaml/constructor.py", line 49, in get_single_data node = self.get_single_node() File "/usr/lib/python3/dist-packages/yaml/composer.py", line 36, in get_single_node document = self.compose_document() File "/usr/lib/python3/dist-packages/yaml/composer.py", line 55, in compose_document node = self.compose_node(None, None) File "/usr/lib/python3/dist-packages/yaml/composer.py", line 84, in compose_node node = self.compose_mapping_node(anchor) File "/usr/lib/python3/dist-packages/yaml/composer.py", line 127, in compose_mapping_node while not self.check_event(MappingEndEvent): File "/usr/lib/python3/dist-packages/yaml/parser.py", line 98, in check_event self.current_event = self.state() File "/usr/lib/python3/dist-packages/yaml/parser.py", line 428, in parse_block_mapping_key if self.check_token(KeyToken): File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 116, in check_token self.fetch_more_tokens() File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 223, in fetch_more_tokens return self.fetch_value() File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 577, in fetch_value raise ScannerError(None, None, yaml.scanner.ScannerError: mapping values are not allowed here in "", line 1, column 11: linear: x: 0.5 y: 0.0 z: 0.0 angular: x: .. Moreover, I hope to hear the solution soon. Thank you.

smatarCPR commented 5 days ago

Hello @kylechen357 I have a couple questions/recommendations I wish for you to try:

Let me know how this recommendation works for you. Looking forward to hearing from you soon. Best Regards, Saif