Create3 Cannot Keep Up With RTABmap Needs #552
Replies: 5 comments 4 replies
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Is there a way to isolate the create3 with a “rebroadcaster” such that the Create 3 sees only one client subscriber/publisher? Would this solve the Create3 under-powered (for my demands) processing situation? (Perhaps I am viewing the challenges I have been fighting too harshly. I’m just feeling that I lack the ability to figure how to get past working around platform issues so that I can begin my education into integrating VSLAM and behavior trees into my robot WaLi’s behavior repertoire and environment awareness.) I feel I may have myself in a bad situation relying on an “educational robot” as my base for what is perhaps a bleeding edge of ROS 2 for a self-contained autonomous robot. ( I am hoping the Pi5’s 2x-3x processing power improvement over the Pi4 is the key to unlocking these features in my latest 24/7 robot adventure. My last ROS 2 robot was maxing out the Pi4 with 2D LIDAR SLAM and nothing left for using the awareness. Adding VSLAM was out of the question.) I love that the Create3 has intrinsic self docking, a ton of proprioceptive sensors that provide self-protection, and logs, as well as superb position estimates, and most importantly a responsive vendor support team. I am not aware of another robot/robot vendor with all these elements for success in the educational robot market, at any price. (Especially in light of my poor experience with another ROS educational / research market assembled/complete robot.) I’m getting scared that I have set my expectations too high as to the frontiers I can explore with the Create3. |
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I was about to answer exactly like this. The answer is: yes, there should be a way to do it and I'm looking to write some instructions for that.
I think that the discovery server should allow to configure a similar scenario. Another approach, perhaps simpler, would involve not using the discovery server and rather isolate which network interface are used by each app.
In theory, what you are trying to do is perfectly reasonable and supported by the robot. |
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ROS 2 has some "remap" feature - is it possible to create a "remap only" virtual node via a launch file, which has no actual subscriber-republish code?I am no longer C++ fluent, so until an "official app1.cpp" or "official app1.launch.py" is available this would be my approach for the Create3 topics, services, and actions for the nodes and CLI commands I depend on: |
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Don't know about a C++ app1 but I've only done eight of the topic rebroadcasters and my c3interface.py is taking 27% of one core - 7% of the Pi5. Just added imu which I think is the highest freq topic. Sure wish I was good at python decorators instead of copy/paste declaring a sub, a pub, and a callback for each topic. I probably should be trying to figure the isolation discovery server pair setup to try out the concept before investing so much in the "c3interface app1" Just got to the /tf topic subscriber which I remember was a Create3 killer. uh-oh. |
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@alsora Thank you for the response and encouragement. I documented my discovery server config here I’m also suspicious that the ntp server config might be taxing the Create3 as well. It is documented here. The eproxima Discovery Server does describe a twin discovery server configuration that sounded like it was designed to isolate networks or ROS domains. It just seemed too complicated for me to wrap my head around. I think I am understanding the concept of the discovery server even though I do not understand how minimizing the ROS discovery process will minimize the steady state message load. |
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I think this is how it needs to be setup:
Main issue blocking me is the /tf and /tf_static topic sub/pub in the C3Interface node - Those have to be C++ using the code @brianabouchard found:
This may take some of the load off the Create3 onto the ComputeBoard, but it does create a single subscriber to every Create3 topic/service/action; don't know how the Create3 will do with that. |
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I've posted on the eProsima Discussion Forum for assistance configuring |
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Taking this off the radar for the present |
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Anyone successful run RTAB-map with turtlebot4? The steps are 1.run rviz 2.run slam 3.run nav2 4.run ros2 launch rtabmap_demos turtlebot4_slam.launch.py, are those steps correct? |
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How are you connecting to your Create 3?
Wi-Fi and USB Ethernet (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?
usb0 to Discovery Server AND 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?
USB
Describe your question.
With the new FastDDS Discovery Server configuration, running RTABmap fed by Oak-D-Lite and Create3 (no LIDAR) brings Create3 to its knees. It just cannot keep up. Does not respond promptly to /cmd_vel messages. Log shows it is struggling:
(example while on dock - attached log shows prior session while off the dock)
Matching start of rtabmap:
rtabmap.txt
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