Turtlebot4 Configuration for Remote PC

[escortKwon]

Please provide the following information:

• OS: Ubuntu 20.04.5
• ROS Distro: Galactic
• Built from source or installed: Turtlebot 4, Turtlebot4 Desktop and Turtlebot4 Simulator

• Package version: Turtlebot4(0.1.2), Turtlebot4 Desktop(0.1.0), Turtlebot4 Simulator(0.1.1) / All packages are cloned for latest commits on branch galactic

  Expected behaviour Check same topics of Create3 from both Raspberry Pi 4 and Turtlebot4 Lite simultaneously

  Actual behaviour Topics from Create3 were only visible on Raspberry Pi 4 via SSH connection from Remote PC. Any topics from Create3 could not be found on local terminal of Remote PC

To Reproduce Provide the steps to reproduce:

• Turtlebot4 Lite
  1. Overwrite the lateset pre-installed image (0.1.3) on SD card from Raspberry Pi 4.
  2. Clone the repository of turtlebot4/turtlebot4_setup and run turtlebot4_setup.sh for automatic setup.
• Remote PC
  1. Clean install Ubuntu 20.04.5
  2. Configure ROS2 Environment(Install ROS2 Galactic)
  3. Install and build Turtlebot4 Packages: Turtlebot4, Turtlebot4_Dektop, Turtlebot4_Simulator
  4. Configure ~/.bashrc as follows:

     source /opt/ros/galactic/setup.bash
     source ~/turtlebot4_ws/install/setup.bash
     export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     export CYCLONEDDS_URI='<CycloneDDS><Domain><General><DontRoute>true</></></></>'
     export ROS_DOMAIN_ID=0

     Other notes I've installed and built all Turtlebot4 packages successfully but I've never made proper configuration between Create3 and Remote PC. Whatever I tried, I could see Create3 topics of Raspberry Pi 4 but not available for Remote PC. Also, I got some technical support directly from my sales but there were no changes. I hope there will be some better idea or methods for trouble shooting. Thanks P.S. All of our school campus networks are protected by Firewall but I have tried another AP without any ethernet connection. The result was same for fail.

[roni-kreinin]

Is the Create 3 connected to the same Wi-Fi network?

[escortKwon]

Is the Create 3 connected to the same Wi-Fi network?

Absolutely. Whenever I process configuring environment, I've made same connection between same Wi-Fi AP and computers

[jmm-slamcore]

@escortKwon saw you also opened this ticket https://github.com/eclipse-cyclonedds/cyclonedds/issues/1476 I've also experienced issues when using cyclonedds. Switching to fastrtps seemed to work for me as a workaround.

[roni-kreinin]

@escortKwon Please try using the FastDDS discovery server as mentioned here.

[escortKwon]

@escortKwon Please try using the FastDDS discovery server as mentioned here.

@roni-kreinin Thank you for providing some solutions! I've tried using the FastDDS discover server as you mentioned. I could see the same topics between Remote PC and RP4 simultaneously.

But there're some another issue. When I try undocking or moving(navigating by pressing keyboard), there come up a kind of message as follows: Waiting for an action server to become available...

I will be really appreciated if you could provide more troubleshooting solutions for me. But, thanks anyway for making my TB4 show same topics on both computers :)

[escortKwon]

@roni-kreinin Oh, I just solved for receiving commands. I just run ros2 daemon stop; ros2 daemon start, It really works! Thank your for your help. It was really helpful.