Turtlebot4 does not move in Ignition Fortress #443
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aharshac
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troubleshooting
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Full log: tb4_sim_error.log |
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Hi @aharshac |
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Hello @RustyCPR I've seen this issue on two PCs. One with 16 GB RAM, 4GB 1050Ti and another with 32 GB RAM, 4 GB P2000. Both of them were running local Fast DDS discovery servers. This problem exists with Create3 Ignition as well, but not with Gazebo Classic. I did not see this problem when I switched to Cyclone DDS with simple discovery. I want to use Turtlebot4 sim with multiple robots for frontier exploration, and I was unable to spawn more than one robot with Cyclone. I think this issue is caused by ros2_control ros-controls/ros2_control#1200. There's a fix ros-controls/ros2_control#1562, but I was unable to build the branch locally. Here's how I source my env Thanks |
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@RustyCPR Can you confirm if I'm sourcing my environment properly? #!/bin/bash
source /opt/ros/humble/setup.bash
fastdds discovery -i 0 -p 11811fastdds_super_client.xml <?xml version="1.0" encoding="UTF-8" ?>
<dds>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<participant profile_name="super_client_profile" is_default_profile="true">
<rtps>
<builtin>
<discovery_config>
<discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
<discoveryServersList>
<RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
<metatrafficUnicastLocatorList>
<locator>
<udpv4>
<address>127.0.0.1</address>
<port>11811</port>
</udpv4>
</locator>
</metatrafficUnicastLocatorList>
</RemoteServer>
</discoveryServersList>
</discovery_config>
</builtin>
</rtps>
</participant>
</profiles>
</dds> |
We have fixed the issues in all supported distros. Currently in source, but feel free to test and give us feedback! |
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Hi @aharshac Please try removing/unsetting the FASTRTPS_DEFAULT_PROFILES_FILE from your sourcing script. |
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@RustyCPR The simulator works as expected after ros-controls/ros2_control#1562 was merged. Thanks @destogl for the fix. |
Robot Model
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ROS distro
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Networking Configuration
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OS
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Built from source or installed?
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Package version
Installed by running
sudo apt install ros-humble-turtlebot4-simulatorwhich also installed the following dependencies:Ended up afterwards with:
Type of issue
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Expected behaviour
The simulator is started with
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py.Actual behaviour
The robot oscillates in place on the dock for a moment after pressing the start simulation button.
Undock function does not work:
When the back button is pressed on the teleop widget:
There's a different error when rviz arg is set true. Maybe I'll open another ticket.
Error messages
To Reproduce
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.pyOther notes
No response
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