Wait for service timed out when trying to set parameters (firmware H.2.6)

[xiaoshan-lin]

Hello,

After upgrading to firmware H.2.6, we try to set parameters publish_hazard_msgs, raw_kinematics_min_pub_period_ms and publish_odom_tfs to reduce CPU and RAM usage.

However, we got a "Wait for service timed out" message when we call ros2 param load /turtlebot1/robot_state param.yaml and ros2 param load /turtlebot2/robot_state param.yaml. The param.yaml file is attached below.

Do you know how to solve this problem? Thanks in advance for your help and support.

/turtlebot1/robot_state:
  ros__parameters:
    publish_hazard_msgs: false
    publish_odom_tfs: false
    raw_kinematics_min_pub_period_ms: -1
    
/turtlebot2/robot_state:
  ros__parameters:
    publish_hazard_msgs: false
    publish_odom_tfs: false
    raw_kinematics_min_pub_period_ms: -1

[alsora]

Hi @xiaoshan-lin,
this error indicates that either the node name (e.g. /turtlebot1/robot_state) is not correct or there's a connection issue between your pc and the robot.

HOWEVER: even if you got past that error, these parameters can't be modified at runtime.
You should set them through the ROS 2 parameters yaml file exposed by the robot webserver: https://iroboteducation.github.io/create3_docs//webserver/application/
This file is read by the robot on startup.

[xiaoshan-lin]

Thanks for your quick response @alsora. I set the parameters using the webserver and restart the turtlebot. However, the odom data is still published on the /turtlebot2/tf topic. Plus, the comm LED light on the create3 is off after I set the parameters.

I attached a screenshot of my webserver parameters.

[alsora]

I think that either you are not correctly updating the parameters in the yaml or your node names are not correct.
Can you show the output of the following commands:

ros2 node list

ros2 param list

ros2 param get /turtlebot2/robot_state publish_odom_tfs

About the other issue:

the comm LED light on the create3 is off after I set the parameters.

This has nothing to do with the parameters.