Trying to run the actions in the Create 3 tutorial

[cpeavy2]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

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

Dell (i7-4500U CPU), Ubuntu 22.04.3 LTS

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.1

Which RMW is your robot running?

CycloneDDS

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?

2.4GHz Wi-Fi

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?

Bluetooth (default)

Describe your question.

I'm trying to run the actions in the Create 3 tutorial https://iroboteducation.github.io/create3_docs/api/docking/ . Docking and undocking for example. When I run:

ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}"

The system replies:

ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}"
Waiting for an action server to become available...
Sending goal:
{}

And the robot just sits there, does not move. I can see the "/undock" action server and I can drive it around with teleop_twist_keyboard so it's seeing /cmd_vel.

Same thing with Drive Goals (/drive_arc and /drive_distance) and Wall Follow (/wall_follow).

[alsora]

Hi, the issue seems to indicate that the laptop is sending the goal request, but the robot is not reacting to it.

First of all, I would recommend to verify that robot and laptop are using the same RMW.
You said that the robot is using cyclonedds as RMW, note that the default RMW for ROS 2 Humble is fast-dds, so make sure that you changed it on the laptop.

To check and modify RMW on the robot see: https://iroboteducation.github.io/create3_docs/webserver/logs/
To check and modify RMW on the laptop see: https://iroboteducation.github.io/create3_docs/setup/xml-config/

If you still have the issue after you have verified that both RMWs are the same, could you please share with us a log from the robot?
It can be found in the webserver https://iroboteducation.github.io/create3_docs/webserver/logs/

[cpeavy2]

Thanks! Changing the robot to fast-dds solved the problem. The robot now moves, yay! :- ]