Create3 topics do not respond to requests

[gjf2a]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

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

Libre Le Potato

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.1.2

Which RMW is your robot running?

FastRTPS

Does your robot have an assigned namespace? If so, please share.

/archangel

Is the robot connected to a network? If so, what is the network type?

Yes, work network

Are there multiple Create 3 robots connected to your network?

Yes

Is multicast enabled?

Yes

What is the Adapter Board's USB/BLE Toggle currently switched to?

USB

Describe your question.

My robot normally gives a solid topic list on the second try after startup:

ferrer@ferrer-aml-s905x-cc:~ros2 topic list /archangel/battery_state /archangel/cmd_audio /archangel/cmd_lightring /archangel/cmd_vel /archangel/dock_status /archangel/hazard_detection /archangel/imu /archangel/interface_buttons /archangel/ir_intensity /archangel/ir_opcode /archangel/kidnap_status /archangel/mobility_monitor/transition_event /archangel/mouse /archangel/odom /archangel/robot_state/transition_event /archangel/slip_status /archangel/static_transform/transition_event /archangel/stop_status /archangel/tf /archangel/tf_static /archangel/wheel_status /archangel/wheel_ticks /archangel/wheel_vels /parameter_events /rosout

However, it does not consistently respond to publishing. For instance, when I give the following command:

ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

It responds by giving a publishing message, but the robot never moves.

`ferrer@ferrer-aml-s905x-cc:~$ ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
publisher: beginning loop
publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #2: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #3: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #4: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #5: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #6: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #7: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #8: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #9: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #10: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))
`

This continues until I halt the command.

Any suggestions? Thanks!

[alsora]

@gjf2a your robot has a namespace, so you should publish to /archangel/cmd_vel

The full command would be:

ros2 topic pub /archangel/cmd_vel geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

[gjf2a]

Never mind - I had left off the /archangel part!