Nav2 does not work on Jazzy #501
Comments
aharshac
added
the
troubleshooting
1. Turtlebot 4 Intialized
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2. slam_toolbox launched
Nodes: |
3. nav2 startedNodes: Topics: |
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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:
slam_toolbox:
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Hello @aharshac ,
Looking forward to hearing from you soon. |
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Hi @smatarCPR Here's my config: I solved the issues:
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Here's my config for anyone interested: Create 3Install I.0.0.CycloneDDS (Iron) firmware and adapt the application settings RPiexport ROS_DOMAIN_ID=0
export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI="/home/ubuntu/cyclonedds_zenoh.xml"cyclonedds_zenoh.xml<CycloneDDS>
<Domain>
<General>
<Interfaces>
<NetworkInterface name="usb0"/>
<!-- For less traffic, force multicast usage on loopback even if not configured. -->
<!-- All ROS Nodes and bridges must have this same config, otherwise they won't discover -->
<!-- <NetworkInterface address="127.0.0.1" multicast="true"/> -->
<NetworkInterface name="lo" priority="default" multicast="true" />
</Interfaces>
<DontRoute>true</DontRoute>
</General>
</Domain>
</CycloneDDS>zenoh_rpi.json5{
"mode": "peer",
"listen": { "endpoints": ["tcp/0.0.0.0:7447"] },
"plugins": {
"ros2dds": {
"namespace": "/bot1",
// "deny": {
// "publishers": [".*/_internal/.*", ".*/_do_not_use/.*"],
// "subscribers": [".*/_internal/.*", ".*/_do_not_use/.*"],
// "service_servers": [".*/_internal/.*", ".*/_do_not_use/.*"],
// "service_clients": [".*/_internal/.*", ".*/_do_not_use/.*"],
// "action_servers": [".*/_internal/.*", ".*/_do_not_use/.*"],
// "action_clients": [".*/_internal/.*", ".*/_do_not_use/.*"]
// },
"allow": {
"publishers": [
".*/battery_state",
// ".*/cliff_intensity",
// ".*/cmd_audio",
// ".*/cmd_lightring",
".*/cmd_vel",
".*/dock_status",
// ".*/hazard_detection",
".*/imu",
// ".*/interface_buttons",
".*/ir_intensity",
".*/ir_opcode",
".*/joint_states",
// ".*/kidnap_status",
// ".*/mobility_monitor/transition_event",
// ".*/mouse",
".*/oakd/.*",
".*/odom",
".*/robot_description",
".*/robot_state/transition_event",
".*/scan",
// ".*/slip_status",
".*/static_transform/transition_event",
// ".*/stop_status",
".*/tf",
".*/tf_static",
".*/wheel_status",
// ".*/wheel_ticks",
// ".*/wheel_vels",
// "/clock",
// "/parameter_events",
// "/rosout",
// "/set_elevator",
],
"subscribers": [
".*/battery_state",
// ".*/cliff_intensity",
// ".*/cmd_audio",
// ".*/cmd_lightring",
".*/cmd_vel",
".*/dock_status",
// ".*/hazard_detection",
".*/imu",
// ".*/interface_buttons",
".*/ir_intensity",
".*/ir_opcode",
".*/joint_states",
// ".*/kidnap_status",
// ".*/mobility_monitor/transition_event",
// ".*/mouse",
".*/oakd/.*",
".*/odom",
".*/robot_description",
".*/robot_state/transition_event",
".*/scan",
// ".*/slip_status",
".*/static_transform/transition_event",
// ".*/stop_status",
".*/tf",
".*/tf_static",
".*/wheel_status",
// ".*/wheel_ticks",
// ".*/wheel_vels",
// "/clock",
// "/parameter_events",
// "/rosout",
// "/set_elevator",
],
"service_servers": [".*/start_motor", ".*/stop_motor", ".*/reset_pose"],
"service_clients": [".*/start_motor", ".*/stop_motor", ".*/reset_pose"],
"action_servers": [".*/dock", ".*/undock"],
"action_clients": [".*/dock", ".*/undock"],
},
"pub_max_frequencies": [
".*/image_raw=20",
".*/image_raw/.*=20",
".*/camera_info=20"
]
},
"rest": { "http_port": 8000 }
},
"scouting": {
"multicast": {
"enabled": false
},
"gossip": {
"enabled": false
}
}
}PCexport ROS_DOMAIN_ID=10
export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
export RMW_IMPLEMENTATION=rmw_cyclonedds_cppzenoh_pc.json5
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zenoh-bridge-ros2dds setup and usageecho "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list.d/zenoh.list > /dev/null
sudo apt update
sudo apt install zenoh-bridge-ros2ddsInstall on both RPi and PC UsageRPi
PC
The zenoh bridge should be started manually on both RPi and PC. Adapt the config paths as needed. |
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I found that peer mode would still sometimes be flaky, and starting a zenoh router on the host PC, before starting the bridges' with mode |
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@aaronchongth Thanks for the tip! Do you mean something like this? PC
RPi
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@aharshac, it would be using the |
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
Type of issue
Navigation (SLAM, Nav2 etc.)
Expected behaviour
/robot_descriptionActual behaviour
The same sequence was working on Humble but now does not on jazzy:
/robot_description, but empty (also seen on Humble)Error messages
To Reproduce
Other notes
No response
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