TurtleBot 4 Not Showing Up in Rviz/Map Not Updating During SLAM

[BashByr]

I recognize this is a similar to Issue #44, however I believe this is a different case since the Create3 appears to be connected to the same network as the RPI and my computer (ros2 topics shown below). I will attempt to detail this as much as I can, from startup to the source of error.

First, to check connectivity to the robot, I run ros2 topic list, and the following is the output:

bash@ubuntu:~$ ros2 topic list
/battery_state
/color/preview/camera_info
/color/preview/image
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/dock
/hazard_detection
/imu
/interface_buttons
/ip
/joint_states
/joy
/mouse
/parameter_events
/robot_description
/rosout
/scan
/stereo/camera_info
/stereo/depth
/tf
/tf_static
/wheel_status

Running ros2 node list returns the following:

bash@ubuntu:~$ ros2 node list
/analyzers
/rgb_stereo_node
/robot_state_publisher
/rplidar_composition
/turtlebot4_diagnostics
/turtlebot4_node

Please also note that I can ping my RPI from my computer as well as SSH into it successfully.

Now, running ros2 launch turtlebot4_navigation slam_sync.launch.py, I almost instantly get the following messages:

Then, when I run ros2 launch turtlebot4_viz view_robot.launch.py in a separate terminal, I get the following output in the terminal:

And the Rviz window looks like this:

It gets a correct initial lidar scan but fails to keep updating it as the robot moves around. Further, the robot is nowhere to be seen on the map. Running ros2 topic list as SLAM is running generates the following output:

bash@ubuntu:~$ ros2 topic list
/battery_state
/clicked_point
/cmd_audio
/cmd_lightring
/cmd_vel
/color/preview/camera_info
/color/preview/image
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/dock
/downsampled_costmap
/downsampled_costmap_updates
/global_costmap/costmap
/global_costmap/costmap_updates
/global_costmap/voxel_marked_cloud
/hazard_detection
/imu
/initialpose
/interface_buttons
/ip
/ir_intensity
/ir_opcode
/joint_states
/joy
/kidnap_status
/local_costmap/costmap
/local_costmap/costmap_updates
/local_costmap/published_footprint
/local_costmap/voxel_marked_cloud
/local_plan
/map
/map_metadata
/map_updates
/mobile_base/sensors/bumper_pointcloud
/mobility_monitor/transition_event
/mouse
/odom
/parameter_events
/particle_cloud
/plan
/robot_description
/robot_state/transition_event
/rosout
/scan
/slam_toolbox/feedback
/slam_toolbox/graph_visualization
/slam_toolbox/scan_visualization
/slam_toolbox/update
/slip_status
/static_transform/transition_event
/stereo/camera_info
/stereo/depth
/stop_status
/tf
/tf_static
/waypoints
/wheel_status
/wheel_ticks
/wheel_vels

Could I please get some pointers as to what may be wrong? Any help is appreciated, thanks! @roni-kreinin

[roni-kreinin]

@BashByr Can you try running asynchronous slam on the RPi?

ros2 launch turtlebot4_navigation slam_async.launch.py

[BashByr]

@roni-kreinin That worked, thank you! I was able to build a map and use Nav2 Goal in Rviz successfully. Any idea why synchronous slam doesn’t work?

[roni-kreinin]

Synchronous slam is generally better to run on a remote PC as it requires more compute power. You can play around with the .yaml settings to reduce the resolution or update rates if you want it to work well on the RPi4.

[roni-kreinin]

Closing as issue is resolved.

[Basavaraj-PN]

I'm getting the same issue, not able to run anything, tried with asyn launch file.