Cannot connect Jetson nano 4GB with Create 3

[mynameissagif]

How are you connecting to your Create 3?

Wi-Fi and USB Ethernet (ROS 2)

Computer(s) Model(s) and Operating System(s)

Jetson nano 4GB

Which version of ROS 2 is installed on your computer?

Galactic

Which firmware version is installed on your robot?

G.4.5

Which RMW is your robot running?

CycloneDDS

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

No response

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

No

What is the Adapter Board's USB/BLE Toggle currently switched to?

USB

Describe your question.

Hi, I have read other discussions and found similar problems, but none of the suggested solutions solved my problem.
I'm trying to connect my Jetson nano 4GB to the create 3. I've followed the official docs to setup the Jetson nano but eventually I can only see /parameter_events and /rosout when typing ros2 topic list.

here is a total summary of my current state:
when runningscripts/docker_run.sh -c dustynv/ros:galactic-desktop-l4t-r35.3.1, I get
localuser:root being added to access control list xauth: file /tmp/.docker.xauth does not exist sourcing /opt/ros/galactic/install/setup.bash notfound /ros_deep_learning/install/setup.bash ROS_DISTRO galactic ROS_ROOT /opt/ros/galactic root@jetson-desktop:/#

then usig either typeC-Ethernet (like this) or typeC-microUSB (like this) both ifconfig l4tbr0 and ping 192.168.186.2 work fine, but then inside the container using either fastDDS or CycloneDDS ros2 topic list returns only /parameter_events and /rosout.

[kwujciak]

Have you tried setting your RMW to FastDDS?

[kwujciak]

Are you using ROS through Docker or did you do a native install?

[mynameissagif]

I'm Using ROS through the Docker following the official instructions.

here is a total summary of my current state:
when runningscripts/docker_run.sh -c dustynv/ros:galactic-desktop-l4t-r35.3.1, I get
localuser:root being added to access control list xauth: file /tmp/.docker.xauth does not exist sourcing /opt/ros/galactic/install/setup.bash notfound /ros_deep_learning/install/setup.bash ROS_DISTRO galactic ROS_ROOT /opt/ros/galactic root@jetson-desktop:/#

then usig either typeC-Ethernet (like this) or typeC-microUSB (like this) both ifconfig l4tbr0 and ping 192.168.186.2 work fine, but then inside the container using either fastDDS or CycloneDDS with domain ID 32 ros2 topic list returns only /parameter_events and /rosout.

[kwujciak]

I was very unsuccessful when trying to use ROS through Docker on my Jetson nano. Docker was causing a lot of issues for me that I couldn't quite work around. What ended up consistently working for me was natively installing ROS 2. I flashed this image onto a 32 GB mini SD card. Then I used these iRobot instructions to download ROS 2 (Galactic) onto the board. I had both my Jetson and robot on Cyclone (when it was on Fast, we were able to ping the robot but couldn't get a topic list - what you're describing), then followed the ethernet over usb instructions (I did not need a domain ID). Another process that worked was setting up over wifi, but I needed to switch to FastDDS and disable multicast for that to successfully connect. Both ways yielded a full topic list.

[kwujciak]

In doing so more testing, it seems that you may have to reboot the robot. So if you're able to ping 192.168.186.2, navigate to that IP in your Jetson browser, then reboot the robot under application settings. After doing this in the Docker, we were able to get a full topic list.

[mynameissagif]

thanks! Using CycloneDDS & typeC-microUSB and rebooting the robot from the Jetson after connecting the cable I've got the proper ros2 topic list response. I'll consider moving to the 20.04 Ubuntu image if more issues would rise.