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What do you mean by accessing the ROS topics? |
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So if I go on remote pc I don't see any topics when I enter ros 2 topic list
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From: Darya Clark ***@***.***>
Sent: Wednesday, July 12, 2023 3:42:53 PM
To: iRobotEducation/create3_docs ***@***.***>
Cc: Kurt Ingleson ***@***.***>; Author ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] ROS2 Networking with 2 computers (Discussion #423)
What do you mean by accessing the ROS topics?
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Just to make sure I understand, you are trying to wireless talk to your robot (not over usb)? Or are you still trying to ssh into the Pi and control it that way just on the desktop? |
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I want to connect to the create 3 from a desktop pc not usb , the robot does have a pi on it for the lidar but I just can't see any topics from the create3
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From: kwujciak ***@***.***>
Sent: Wednesday, July 12, 2023 6:33:11 PM
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Cc: Kurt Ingleson ***@***.***>; Author ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] ROS2 Networking with 2 computers (Discussion #423)
Just to make sure I understand, you are trying to wireless talk to your robot (not over usb)? Or are you still trying to ssh into the Pi and control it that way just on the desktop?
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Is your robot on the same Wi-Fi as your PC? Do they have the same RMW? |
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So , would it matter if the switch on the create is set to usb ? Could that be why ?
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From: kwujciak ***@***.***>
Sent: Wednesday, July 12, 2023 7:56:35 PM
To: iRobotEducation/create3_docs ***@***.***>
Cc: Kurt Ingleson ***@***.***>; Author ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] ROS2 Networking with 2 computers (Discussion #423)
Is your robot on the same Wi-Fi as your PC? Are they running the same DDS?
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It should be set to usb not bluetooth. Did you cross compare the wifi and RMW? |
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Yes the wifi is the same and also the rmw is the same , I'm wondering if its multicast issue ?
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From: kwujciak ***@***.***>
Sent: Wednesday, July 12, 2023 8:00:36 PM
To: iRobotEducation/create3_docs ***@***.***>
Cc: Kurt Ingleson ***@***.***>; Author ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] ROS2 Networking with 2 computers (Discussion #423)
It should be set to usb not bluetooth. Did you cross compare the wifi and RMW?
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Are you on a home or work/university network? |
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It's a work network , not sure if multicast works ? Is there a way to do it without ?
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From: kwujciak ***@***.***>
Sent: Wednesday, July 12, 2023 8:21:25 PM
To: iRobotEducation/create3_docs ***@***.***>
Cc: Kurt Ingleson ***@***.***>; Author ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] ROS2 Networking with 2 computers (Discussion #423)
Are you on a home or work/university network?
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Yes I would try using Fast DDS with multicast disabled. Look at this page to set it to Fast and disable multicast. |
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Hi, so weirdly I have tried doing the test with the talker and listener on the laptop running ubuntu 22.04 and the pi on the robot and I can see the send and response so multi cast I sworking , I just cant see the create topics, I have set fast rdw , they are both on ros domain 0 .. I cant think of anything else to try ?
Kurt Ingleson
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From: kwujciak ***@***.***>
Sent: Wednesday, July 12, 2023 10:05 PM
To: iRobotEducation/create3_docs ***@***.***>
Cc: Kurt Ingleson ***@***.***>; Author ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] ROS2 Networking with 2 computers (Discussion #423)
Yes I would try using Fast DDS with multicast disabled. Look at this page<https://iroboteducation.github.io/create3_docs/setup/xml-config/#fast-dds> to set it to Fast and disable multicast.
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Just one more question plz,
How many devices can communicate on 1 ros domain ? I seem to be only able to get 2 to communicate if I add a third it doesn’t work
Kurt Ingleson
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From: kwujciak ***@***.***>
Sent: Wednesday, July 12, 2023 10:05 PM
To: iRobotEducation/create3_docs ***@***.***>
Cc: Kurt Ingleson ***@***.***>; Author ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] ROS2 Networking with 2 computers (Discussion #423)
Yes I would try using Fast DDS with multicast disabled. Look at this page<https://iroboteducation.github.io/create3_docs/setup/xml-config/#fast-dds> to set it to Fast and disable multicast.
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I've been able to put many robots on one domain ID and see all of their topics successfully. In response to the question above, I would imagine that if you cannot see a topic list, multicast could still be the issue if you have it enabled. That would be my best guess. I would also double check that if your Pi is on 22.04, your Create is on the latest Humble firmware (not Galactic). |
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They are all on galactic , am I better using humble ?
Thanks
Kurt Ingleson
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From: kwujciak ***@***.***>
Sent: Thursday, July 13, 2023 2:18 PM
To: iRobotEducation/create3_docs ***@***.***>
Cc: Kurt Ingleson ***@***.***>; Author ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] ROS2 Networking with 2 computers (Discussion #423)
I've been able to put many robots on one domain ID and see all of their topics successfully. In response to the question above, I would imagine that if you cannot see a topic list, multicast could still be the issue if you have it enabled. That would be my best guess. I would also double check that if your Pi is on 22.04, your Create is on the latest Humble firmware (not Galactic).
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Galactic will work fine. In response to putting multiple robots on the same domain ID, I should've mentioned to make sure they all have different namespaces. If multiple robots have different namespaces but same domain ID, you will see a topic list with each one (if you're computer is also on that domain ID). Can you tell me the output when you run |
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So using galactic I have the topics showing now so maybe it was a humble issue, however if I try and install the examples rosdep fails and says it cant find teleop_twist package and a few others, it didn’t do that on humble ,
Kurt Ingleson
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From: kwujciak ***@***.***>
Sent: Thursday, July 13, 2023 7:01 PM
To: iRobotEducation/create3_docs ***@***.***>
Cc: Kurt Ingleson ***@***.***>; Author ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] ROS2 Networking with 2 computers (Discussion #423)
Galactic will work fine. In response to putting multiple robots on the same domain ID, I should've mentioned to make sure they all have different namespaces. If multiple robots have different namespaces but same domain ID, you will see a topic list with each one (if you're computer is also on that domain ID).
Can you tell me the output when you run echo $RMW_IMPLEMENTATION, $FASTRTPS_DEFAULT_PROFILES_FILE in terminal?
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There may be an issue while installing ROS 2. Try running |
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How are you connecting to your Create 3?
USB Ethernet (ROS 2)
Computer(s) Model(s) and Operating System(s)
Ubuntu 22.04
Which version of ROS 2 is installed on your computer?
Humble
Which firmware version is installed on your robot?
H 01
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?
Yes wifi network
Are there multiple Create 3 robots connected to your network?
No
Is multicast enabled?
Yes
What is the Adapter Board's USB/BLE Toggle currently switched to?
USB
Describe your question.
I have managed to get the robot conencted to a pi4 and i can run exples and undock n dock etc, what i now need to do because the robot is ubuntu server there is no desktop so i cant run nav etc, so i have mirrored the install on a ubutnu desktop machine , question is how can i access the ros topics on the robot from the ubuntu desktop , are there any tutorials howto get networking between to ros 2 nodes for the create 3 ? any help would be appreciated
Thanks
Kurt
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