Nav2 does not work on Jazzy

[aharshac]

Robot Model

Turtlebot4 Standard

ROS distro

Jazzy

Networking Configuration

Discovery Server

OS

Ubuntu 24.04

Built from source or installed?

Installed

Package version

dpkg -l ros-jazzy-turtlebot4* | grep ^ii

ii ros-jazzy-turtlebot4-base 2.0.1-2noble.20241025.080249 arm64 Turtlebot4 Base Node ii ros-jazzy-turtlebot4-bringup 2.0.1-2noble.20241118.200906 arm64 Turtlebot4 Robot Bringup ii ros-jazzy-turtlebot4-description 2.0.1-1noble.20241118.200242 arm64 Turtlebot4 Description package ii ros-jazzy-turtlebot4-diagnostics 2.0.1-2noble.20241025.080252 arm64 Turtlebot4 Diagnostics ii ros-jazzy-turtlebot4-msgs 2.0.1-1noble.20240926.010643 arm64 Turtlebot4 Messages ii ros-jazzy-turtlebot4-navigation 2.0.1-1noble.20241118.200018 arm64 Turtlebot4 Navigation ii ros-jazzy-turtlebot4-node 2.0.1-1noble.20241018.082137 arm64 Turtlebot4 Node ii ros-jazzy-turtlebot4-robot 2.0.1-2noble.20241118.201548 arm64 Turtlebot4 Robot Metapackage ii ros-jazzy-turtlebot4-setup 2.0.2-1noble.20241025.080230 arm64 Turtlebot4 setup scripts ii ros-jazzy-turtlebot4-tests 2.0.1-2noble.20241025.080005 arm64 Turtlebot4 System Tests

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

1. Robot description is published on /robot_description
2. Nav2 is initialized and robot shall move to goal

Actual behaviour

The same sequence was working on Humble but now does not on jazzy:

1. Robot description is published on /robot_description, but empty (also seen on Humble)
2. Nav2 is not initialized
3. SSH connections to RPi are terminated and reconnected after a moment
4. Create 3 and RPu do not publish tf
5. nav2 local and global costmaps are not published

Error messages

Logs to follow.

To Reproduce

1. rviz2 -d
2. ros2 launch turtlebot4_navigation slam.launch.py
3. ros2 launch turtlebot4_navigation nav2.launch.py

Other notes

No response

[aharshac]

1. Turtlebot 4 Intialized

Nodes: /analyzers /create3_repub /joint_state_publisher /joy_linux_node /launch_ros_1338 /oakd /oakd_container /robot_state_publisher /rplidar_composition /rqt_gui_py_node_190567 /teleop_twist_joy_node /turtlebot4_base_node /turtlebot4_diagnostics /turtlebot4_node

[aharshac]

2. slam_toolbox launched

Robot visualization cannot be seen.

Nodes: /SlamToolboxPlugin /SlamToolboxStateUpdateNode /analyzers /create3_repub /joint_state_publisher /joy_linux_node /launch_ros_1338 /launch_ros_192027 /oakd /oakd_container /robot_state_publisher /rplidar_composition /rqt_gui_py_node_190567 /rviz /rviz_navigation_dialog_action_client /slam_toolbox /teleop_twist_joy_node /transform_listener_impl_581a8b2ebe10 /transform_listener_impl_581a8c196df0 /transform_listener_impl_624c17b81990 /turtlebot4_base_node /turtlebot4_diagnostics /turtlebot4_node

[aharshac]

3. nav2 started

Nodes: /SlamToolboxPlugin /SlamToolboxStateUpdateNode /behavior_server /bt_navigator /collision_monitor /controller_server /docking_server /global_costmap/global_costmap /joint_state_publisher /launch_ros_1338 /lifecycle_manager_navigation /local_costmap/local_costmap /oakd /oakd_container /planner_server /robot_state_publisher /rqt_gui_py_node_190567 /rviz /rviz_navigation_dialog_action_client /smoother_server /teleop_twist_joy_node /transform_listener_impl_57a9e45c4340 /transform_listener_impl_581a8b2ebe10 /transform_listener_impl_581a8c196df0 /transform_listener_impl_59c442156410 /turtlebot4_diagnostics /turtlebot4_node /velocity_smoother /waypoint_follower

Topics: /battery_state /behavior_server/transition_event /bt_navigator/transition_event /clicked_point /clock /cmd_vel /cmd_vel_nav /collision_monitor/transition_event /controller_server/transition_event /diagnostics /diagnostics_agg /dock_status /docking_server/transition_event /downsampled_costmap /downsampled_costmap_updates /function_calls /global_costmap/costmap /global_costmap/costmap_raw /global_costmap/costmap_raw_updates /global_costmap/costmap_updates /global_costmap/global_costmap/transition_event /global_costmap/published_footprint /global_costmap/voxel_marked_cloud /hazard_detection /hmi/buttons /hmi/display /hmi/display/message /hmi/led /imu /initialpose /interface_buttons /ip /joint_states /joy /local_costmap/clearing_endpoints /local_costmap/costmap /local_costmap/costmap_raw /local_costmap/costmap_raw_updates /local_costmap/costmap_updates /local_costmap/footprint /local_costmap/local_costmap/transition_event /local_costmap/published_footprint /local_costmap/static_layer /local_costmap/static_layer_raw /local_costmap/static_layer_raw_updates /local_costmap/static_layer_updates /local_costmap/voxel_grid /local_costmap/voxel_layer /local_costmap/voxel_layer_raw /local_costmap/voxel_layer_raw_updates /local_costmap/voxel_layer_updates /local_costmap/voxel_marked_cloud /local_plan /map /map_updates /mobile_base/sensors/bumper_pointcloud /mouse /oakd/imu/data /oakd/rgb/preview/camera_info /oakd/rgb/preview/image_raw /oakd/rgb/preview/image_raw/compressed /oakd/rgb/preview/image_raw/compressedDepth /oakd/rgb/preview/image_raw/theora /oakd/rgb/preview/image_raw/zstd /odom /optimal_trajectory /parameter_events /particle_cloud /plan /plan_smoothed /planner_server/transition_event /robot_description /rosout /scan /smoother_server/transition_event /speed_limit /tf /tf_static /trajectories /transformed_global_plan /velocity_smoother/transition_event /waypoint_follower/transition_event /waypoints /wheel_status

[aharshac]

After starting nav2, outputs from rviz, slam_toolbox and nav2 hint at time sync issues. Also the image preview from OAK-D lags almost a second behind real-time!

rviz:

[SlamToolboxPlugin]: Waiting for the slam_toolbox node configuration.

slam_toolbox:

[slam_toolbox]: Message Filter dropping message: frame 'rplidar_link' at time 1732530543.461 for reason 'discarding message because the queue is full'