topic(wheel_vels) subscribe problem on create3

[99woong]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

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

jetson xavier NX

Which version of ROS 2 is installed on your computer?

None

Which firmware version is installed on your robot?

G.4.5

Which RMW is your robot running?

FastRTPS

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

No

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

home network

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?

Bluetooth (default)

Describe your question.

Hello
I try to subscribe a wheel velocity on create3.
But does not work with message like "ModuleNotFoundError: No module named 'irobot_create_msgs'".
I attached a full error message below.
Other topic(/battery_state, /odom, /tf,..) does work, well.
I did test in ros2(foxy and galactic).
as below, irobot create related package is installed already. but does not work.

sudo apt-get install ros-foxy-irobot-create-*
sudo apt-get install ros-galactic-irobot-create-*

what can i do?

[symptom]
$ ros2 topic echo wheel_vels
Traceback (most recent call last):
File "/opt/ros/foxy/bin/ros2", line 11, in
load_entry_point('ros2cli==0.9.13', 'console_scripts', 'ros2')()
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/cli.py", line 67, in main
rc = extension.main(parser=parser, args=args)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/command/topic.py", line 41, in main
return extension.main(args=args)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/verb/echo.py", line 71, in main
return main(args)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/verb/echo.py", line 86, in main
message_type = get_msg_class(node, args.topic_name, include_hidden_topics=True)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/api/init.py", line 99, in get_msg_class
msg_class = _get_msg_class(node, topic, include_hidden_topics)
File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/api/init.py", line 144, in _get_msg_class
return get_message(message_type)
File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_runtime_py/utilities.py", line 28, in get_message
interface = import_message_from_namespaced_type(get_message_namespaced_type(identifier))
File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_runtime_py/import_message.py", line 30, in import_message_from_namespaced_type
module = importlib.import_module(
File "/usr/lib/python3.8/importlib/init.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "", line 1014, in _gcd_import
File "", line 991, in _find_and_load
File "", line 961, in _find_and_load_unlocked
File "", line 219, in _call_with_frames_removed
File "", line 1014, in _gcd_import
File "", line 991, in _find_and_load
File "", line 973, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'irobot_create_msgs'

[justinIRBT]

First off, your ROS2 version should match the one running on your robot (either Galactic or Humble). If you haven't touched the robot software, then it is running galactic, so I would use that on the Jetson.

I think the issue you are having is that you are running a foxy sandbox, but irobot_create_msgs are only available in apt starting in galactic. Try running from a galactic sandbox.