ros2 topics not showing up

[coolinventorr]

When I try to run ros2 topic list it only shows /parameter_events and /rosout. ros2 is running on a raspberry pi 4. The robot and the pi are on the same network, the RMW is fastrtps, the robot is runing version G.4.4, and the raspberry pi is running Ubuntu 20.04 LTS 64bit.

[Rebecca-iRobot]

Hi there! Some questions to get started:

• Can you confirm both your robot and pi are set to fastrtps? Theoretically, you set the RMW of your raspberry pi during setup, but to check your robot's RMW, you must use the webserver page (the access point you previously used to connect your robot to wifi/update firmware).
• Which set-up instructions did you use when installing ROS 2 on your pi? Is it the instruction set found at https://iroboteducation.github.io/create3_docs/setup/pi4/? Which version of ROS did you install on the raspberry pi? It must be Galactic if you are using firmware G.4.4.
• Can you tell us more about the Wi-Fi network on which you're connected? Is it a university network, home network, etc?
• Are you using multicast or have you disabled it?

[coolinventorr]

Hi @Rebecca-iRobot! As you can see below, the robot's rmw is set to fastrps:

I did use https://iroboteducation.github.io/create3_docs/setup/pi4/ when installing ros2 on my pi.
ROS Galactic is the version installed on the pi.
The Wi-Fi is a home network.
Finally, I'm not sure what multicast is.

[alsora]

@TheInventor2023 is this a new issue?
Were you able to see topics and/or communicate with the robot in the past?

Moreover, can you try the following commands and post the output?

ros2 topic list --spin-time 10 --no-daemon

and

ros2 topic echo /orientation

[coolinventorr]

Yes: pi@ubuntu:~$ echo $RMW_IMPLEMENTATION rmw_cyclonedds_cpp But no luck with the other thing: pi@ubuntu:~$ export FASTRTPS_DEFAULT_PROFILES_FILE=/home/pi/unicast_locator.xml pi@ubuntu:~$ ros2 daemon stop && ros2 topic list The daemon has been stopped /parameter_events /rosout

[shamlian]

That first command you ran shows that your computer is using Cyclone DDS, and not Fast DDS.

Try
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp and then try stopping the daemon and getting a topic list ros2 daemon stop && ros2 topic list && ros2 topic list

[shamlian]

If this works, please check your ~/.bashrc and verify that you have only one export RMW_IMPLEMENTATION statement in it (and that it is for Fast and not Cyclone)

[coolinventorr]

Thanks so much!! It works now! pi@ubuntu:~$ ros2 daemon stop && ros2 topic list && ros2 topic list The daemon has been stopped /create/cmd_audio /create/cmd_lightring /create/cmd_vel /parameter_events /rosout /create/battery_state /create/cmd_audio /create/cmd_lightring /create/cmd_vel /create/dock_status /create/hazard_detection /create/imu /create/interface_buttons /create/ir_intensity /create/ir_opcode /create/kidnap_status /create/mobility_monitor/transition_event /create/mouse /create/odom /create/robot_state/transition_event /create/slip_status /create/static_transform/transition_event /create/stop_status /create/tf /create/tf_static /create/wheel_status /create/wheel_ticks /create/wheel_vels /parameter_events /rosout When I try running ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}" The robot undocks! I've had this problem for a while, so thanks a bunch!

[shamlian]

Great! Please check your ~/.bashrc and be sure that you are exporting the correct value for RMW_IMPLEMENTATION there or you will run into this the next time you start a new session.

[shamlian]

Ensure that all of the computers and your Create 3 robot are all using the same middleware. You can find this on the robot's Application Configuration page, and by running echo $RMW_IMPLEMENTATION on each of your computers.

[f-tassan]

Hello @shamlian I have tried to follow the instructions above. I double-checked the RMW on the iRobot Create 3 and the raspberry pi 4. both are set to Fastrtps.
I just set up my raspberry pi with the create 3 for the first time and I cannot see the ROS topics when typing ros2 topic list (I only see /parameter_events and /rosout) I made sure that the toggle on the Adapter Board is set to USB. and followed the instructions on https://iroboteducation.github.io/create3_docs/setup/pi4galactic/

Thanks for your help.

My setup:

• Raspberry Pi 4
• Ubuntu 20.04
• ROS2 Galactic
• iRobot FW Version G.5.3

[shamlian]

@f-tassan please create a new discussion thread instead of tagging me in this old one; otherwise, others will not be notified and be able to help. In this new discussion, please include information about your networking environments. Logs can also be helpful.

[f-tassan]

Hello all,
I have tried to follow the instructions above. I double-checked the RMW on the iRobot Create 3 and the raspberry pi 4. both are set to Fastrtps.
I just set up my raspberry pi with the create 3 for the first time and I cannot see the ROS topics when typing ros2 topic list (I only see /parameter_events and /rosout) I made sure that the toggle on the Adapter Board is set to USB. and followed the instructions on https://iroboteducation.github.io/create3_docs/setup/pi4galactic/

I am working on a home network. Both the Create3 and Raspberry Pi4 are connected to the same wi-fi network.

Not sure where to find the logs or what to look for in there. Let me know if I should look for something specific there and how to find them please.

Thanks for your help.

My setup:

• Raspberry Pi 4
• Ubuntu 20.04
• ROS2 Galactic
• iRobot FW Version G.5.3

[kwujciak]

Hm looks like there's no usb0 connection. Can you run cat /etc/netplan/50-cloud-init.yaml in terminal on the Pi and send the response? Can you then run ifconfig and send that as well? Lastly, will you reboot the Create, wait 5 minutes, and send a full copy of the logs?

[f-tassan]

I ended up erasing the SD card and installing everything on the raspberry pi again. However, the issue is still there.

Here the outputs of the commands and the logs from the robot.

messages.txt

[kwujciak]

Can you run cat ~/.bashrc on your pi and send the results?

[f-tassan]

I am assuming you only need the lines at the end of my .bashrc since the file is pretty long

Here you go:

source /usr/share/colcon_cd/function/colcon_cd.sh
export _colcon_cd_root=/opt/ros/galactic/
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /opt/ros/galactic/setup.bash
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

[f-tassan]

Okay, so I restarted the whole process once again and bought a new USB-C cable just to make sure. And it worked!!
I am almost sure that it was my other cables that were causing the issue.
Now ros2 topic list returns this:

/battery_state
/cliff_intensity
/cmd_audio
/cmd_lightring
/cmd_vel
/dock
/hazard_detection
/imu
/interface_buttons
/ir_intensity
/ir_opcode
/kidnap_status
/mobility_monitor/transition_event
/mouse
/odom
/parameter_events
/robot_state/transition_event
/rosout
/slip_status
/static_transform/transition_event
/tf

[taara67]

hello
i have same trouble that there aren't ros2 topic
I'm sure I've set it up, but ros2 topic is not displayed.

---

$ ros2 topic list -t
/parameter_events [rcl_interfaces/msg/ParameterEvent]
/rosout [rcl_interfaces/msg/Log]

---

my setup

• jetson orin nano:
• not container
• ros2 galactic:
• usb connection (ping can be used with create3)
• rmw cyclone:

---

bashrc

export _colcon_cd_root=/opt/ros/galactic/
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /opt/ros/galactic/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

[brianabouchard]

@taara67 I was able to get my Jetson Orin Nano up and running. Initially, I had the same issue you were having, but I discovered this was related to needing an XML profile on the Orin to allow it to use both the l4tbr0 interface as well as the wlan0 interface. I've pasted the XML profile I used below. Note this is slightly different than the profile listed on this page: https://iroboteducation.github.io/create3_docs/setup/xml-config/ because the Orin is using the l4tbr0 interface instead of usb0.

<CycloneDDS>
   <Domain>
     <General>
        <NetworkInterfaceAddress>l4tbr0,wlan0</NetworkInterfaceAddress>
    </General>
   </Domain>
</CycloneDDS>

All you need to do is create a .xml file with the above code in it. Then export CYCLONEDDS_URI=/path/to/the/xml/profile in terminal and replace the path with the path to your new file.

Let me know if that works!

[taara67]

Hello, thank you for the useful information.

This time I executed the following:

• update Create3 firmware to G 5.3
• Edit Create3 ntpconf
• make Orin's cyclone.xml
• export it and add to bashrc
• Edit Create3's override RMW XML Profile (same as Orin)

In conclusion,
ros2 topic list could not be received.
If you have any questions, please let me know what to check.

[brianabouchard]

You should not override the Create's RMW profile. It should work just fine with the standard profile once you've added the profile to your Orin. The instructions I provided were only for the Orin. The Create does not have an interface l4tbr0 and telling it to communicate on this interface is likely causing the red light issue you are describing in the other discussion thread you just opened.

[taara67]

By creating xml conf for multiple interfaces with cyclonedds on Jetson Orin nano and restarting Create3, ros2 communication became possible.

thanks so much

[brianabouchard]

That's fantastic news! I'm glad to hear everything is now working as expected. I'll work on a PR to update the docs so that other Orin users can benefit from this XML profile.

We'd also always love to see any projects you work on with the Create 3 robot. Don't hesitate to post your creations in the discussion forum!