[ROS] Get - Set Safety Override Reflex Flakey

[slowrunner]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

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

Ubuntu 22.04 in Docker over Raspberry Pi 5 PiOS Bookworm

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.4

Which RMW is your robot running?

FastRTPS

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?

Yes: 2.4GHz Home WiFi

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.

Attempting to get and set safety override is sometimes problematic.

Running:

pi@WaLiPi5:~/wali_pi5/c3ws $ more cmds/set_safety_overide_backup.sh 
#!/bin/bash

# FILE:  cmds/set_safety_overide_backup.sh
#  Leaves operational
#   - Max Speed Limit: 0.306 m/s
#   - Acceleration Limit: 900 mm/s^2
#   - cliff sensing
#   - kidnap sensing

echo -e "SET SAFETY OVERRIDE (ONLY) BACKUP"

ros2 param get /motion_control reflexes.REFLEX_BUMP
ros2 param set /motion_control safety_override backup_only

• Initially returned "node not found"
• Then "wait for service timed out" multiple times
• Eventually the get worked, but an immediate set failed

pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Node not found
Node not found

pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Wait for service timed out
Wait for service timed out

pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Wait for service timed out
Wait for service timed out

pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Wait for service timed out
Wait for service timed out

pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/echo_battery_state.sh             <<--- Checking to make sure Create3 is really listening

*** ECHO BATTERY STATE
ros2 topic echo --once --flow-style /battery_state
header:
  stamp:
    sec: 1706723899
    nanosec: 369123160
  frame_id: ''
voltage: 14.470000267028809
temperature: 36.349998474121094
current: -0.5960000157356262
charge: 0.9049999713897705
capacity: 1.8869999647140503
design_capacity: 1.8869999647140503
percentage: 0.47999998927116394
power_supply_status: 0
power_supply_health: 0
power_supply_technology: 0
present: true
cell_voltage: []
cell_temperature: []
location: ''
serial_number: ''
---

pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Wait for service timed out
Wait for service timed out

pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Wait for service timed out
Wait for service timed out

pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Boolean value is: True                                                        <<---- Finally a response to get, but set timed out
Wait for service timed out         

• Log shows single:

[rclcpp]: Error in take_type_erased_response: RCL_RET_CLIENT_TAKE_FAILED. Service name: /motion_control/get_parameters

Jan 31 17:55:33 Create3-WaLi user.notice create-platform: [INFO] [1706723733.683759646] [system_health]: CPU usage: max 84 [%] mean 67 [%] RAM usage: 40/59 [MB]
Jan 31 17:56:33 Create3-WaLi user.notice create-platform: [INFO] [1706723793.683976386] [system_health]: CPU usage: max 77 [%] mean 64 [%] RAM usage: 40/59 [MB]
Jan 31 17:57:27 Create3-WaLi user.notice ntpd: Script called in periodic mode
Jan 31 17:57:33 Create3-WaLi user.notice create-platform: [INFO] [1706723853.688461123] [system_health]: CPU usage: max 100 [%] mean 71 [%] RAM usage: 40/59 [MB]
Jan 31 17:58:33 Create3-WaLi user.notice create-platform: [INFO] [1706723913.685449324] [system_health]: CPU usage: max 100 [%] mean 85 [%] RAM usage: 40/59 [MB]
Jan 31 17:59:33 Create3-WaLi user.notice create-platform: [INFO] [1706723973.684574526] [system_health]: CPU usage: max 97 [%] mean 79 [%] RAM usage: 40/59 [MB]
Jan 31 17:59:39 Create3-WaLi user.notice create-platform: [ERROR] [1706723979.024871180] [rclcpp]: Error in take_type_erased_response: RCL_RET_CLIENT_TAKE_FAILED. Service name: /motion_control/get_parameters
Jan 31 18:00:00 Create3-WaLi cron.info crond[1096]: USER root pid 31202 cmd /bin/date -u +%4Y%2m%2d%2H%2M%2S > /etc/timestamp
Jan 31 18:00:33 Create3-WaLi user.notice create-platform: [INFO] [1706724033.687138714] [system_health]: CPU usage: max 98 [%] mean 79 [%] RAM usage: 40/59 [MB]
Jan 31 18:01:33 Create3-WaLi user.notice create-platform: [INFO] [1706724093.685448852] [system_health]: CPU usage: max 83 [%] mean 72 [%] RAM usage: 40/59 [MB]
Jan 31 18:02:33 Create3-WaLi user.notice create-platform: [INFO] [1706724153.686844475] [system_health]: CPU usage: max 88 [%] mean 77 [%] RAM usage: 40/59 [MB]
Jan 31 18:03:33 Create3-WaLi user.notice create-platform: [INFO] [1706724213.686132412] [system_health]: CPU usage: max 88 [%] mean 80 [%] RAM usage: 40/59 [MB]
Jan 31 18:04:33 Create3-WaLi user.notice create-platform: [INFO] [1706724273.686488777] [system_health]: CPU usage: max 91 [%] mean 79 [%] RAM usage: 40/59 [MB]
Jan 31 18:05:33 Create3-WaLi user.notice create-platform: [INFO] [1706724333.686908615] [system_health]: CPU usage: max 92 [%] mean 70 [%] RAM usage: 40/59 [MB]
Jan 31 18:06:33 Create3-WaLi user.notice create-platform: [INFO] [1706724393.689677688] [system_health]: CPU usage: max 72 [%] mean 58 [%] RAM usage: 40/59 [MB]
Jan 31 18:07:33 Create3-WaLi user.notice create-platform: [INFO] [1706724453.688220313] [system_health]: CPU usage: max 74 [%] mean 62 [%] RAM usage: 40/59 [MB]
Jan 31 18:08:27 Create3-WaLi user.notice ntpd: Script called in periodic mode
Jan 31 18:08:33 Create3-WaLi user.notice create-platform: [INFO] [1706724513.689418571] [system_health]: CPU usage: max 83 [%] mean 61 [%] RAM usage: 40/59 [MB]
Jan 31 18:09:33 Create3-WaLi user.notice create-platform: [INFO] [1706724573.688553042] [system_health]: CPU usage: max 76 [%] mean 60 [%] RAM usage: 40/59 [MB]
Jan 31 18:10:33 Create3-WaLi user.notice create-platform: [INFO] [1706724633.688898116] [system_health]: CPU usage: max 78 [%] mean 64 [%] RAM usage: 40/59 [MB]

I commented out the get, leaving only the set - same sometimes works, sometimes not work:

pi@WaLiPi5:~/wali_pi5/c3ws $ nano cmds/set_safety_overide_backup.sh 
pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Set parameter successful                                           <--- WORKED
pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Wait for service timed out                                            <--- TIMEOUT
pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Set parameter successful                                           <--- WORKED
pi@WaLiPi5:~/wali_pi5/c3ws $ cmds/set_safety_overide_backup.sh 
SET SAFETY OVERRIDE (ONLY) BACKUP
Wait for service timed out                                          <--- TIMEOUT
pi@WaLiPi5:~/wali_pi5/c3ws $ 

LOG:

Jan 31 18:18:33 Create3-WaLi user.notice create-platform: [INFO] [1706725113.693191618] [system_health]: CPU usage: max 95 [%] mean 73 [%] RAM usage: 40/59 [MB]
Jan 31 18:18:52 Create3-WaLi user.notice create-platform: [INFO] [1706725132.146509681] [motion_control]: Setting safety override to "backup_only"
Jan 31 18:18:53 Create3-WaLi user.notice create-platform: [ERROR] [1706725133.652298531] [rclcpp]: Error in take_type_erased_response: RCL_RET_CLIENT_TAKE_FAILED. Service name: /motion_control/set_parameters
Jan 31 18:19:28 Create3-WaLi user.notice ntpd: Script called in periodic mode
Jan 31 18:19:33 Create3-WaLi user.notice create-platform: [INFO] [1706725173.692996201] [system_health]: CPU usage: max 99 [%] mean 68 [%] RAM usage: 40/59 [MB]
Jan 31 18:20:33 Create3-WaLi user.notice create-platform: [INFO] [1706725233.694570083] [system_health]: CPU usage: max 82 [%] mean 71 [%] RAM usage: 40/59 [MB]
Jan 31 18:21:33 Create3-WaLi user.notice create-platform: [INFO] [1706725293.693350090] [system_health]: CPU usage: max 73 [%] mean 60 [%] RAM usage: 40/59 [MB]
Jan 31 18:22:07 Create3-WaLi user.notice create-platform: [INFO] [1706725327.771516957] [motion_control]: Setting safety override to "backup_only"
Jan 31 18:22:07 Create3-WaLi user.notice create-platform: [ERROR] [1706725327.818404718] [rclcpp]: Error in take_type_erased_response: RCL_RET_CLIENT_TAKE_FAILED. Service name: /motion_control/set_parameters

[slowrunner]

New FW released.