Could not subscribe odom topic after firmware update

[atinfinity]

How are you connecting to your Create 3?

USB Ethernet (ROS 2)

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

Raspberry Pi 4 / Ubuntu 22.04

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.3

Which RMW is your robot running?

I don't know

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?

No response

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

None

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

None

Describe your question.

I updated to the latest firmware(https://iroboteducation.github.io/create3_docs/releases/h_2_3/).
As a result, I could not subscribe odom topic.

And, I checked by "ros2 node list".

$ ros2 node list
/analyzers
/joint_state_publisher
/joy_linux_node
/launch_ros_1022
/oakd
/oakd_container
/robot_state_publisher
/rplidar_composition
/teleop_twist_joy_node
/turtlebot4_base_node
/turtlebot4_diagnostics
/turtlebot4_node

But, these node does not displayed. I downgrade to https://iroboteducation.github.io/create3_docs/releases/h_2_2/. This problem was not resolved.

• mobility_monitor
• motion_control

I checked log via WebServer of Create 3.

Dec 12 07:18:54 user.notice create-platform: [INFO] [1702365534.202752691] [mobility_monitor]: Lifecycle callback: on_configure
Dec 12 07:18:58 user.notice create-platform: [INFO] [1702365538.432919320] [create-platform]: Activating mobility_monitor node
Dec 12 07:18:58 user.notice create-platform: [INFO] [1702365538.433294812] [mobility_monitor]: Lifecycle callback: on_activate
Dec 12 07:18:58 user.notice create-platform: [INFO] [1702365538.435663999] [mobility_monitor]: New kidnap status: kidnap cleared
Dec 12 07:18:59 user.notice create-platform: [INFO] [1702365539.040102439] [_internal.mobility]: Received enable wheels request
Dec 12 07:18:59 user.notice create-platform: [INFO] [1702365539.102631961] [mobility_monitor]: Requested to enable wheels!
Dec 12 07:18:59 user.notice create-platform: [INFO] [1702365539.389320450] [mobility_monitor]: Updating ready to drive: true
Dec 12 07:18:59 user.notice create-platform: [INFO] [1702365539.390442063] [mobility_monitor]: Kidnap cleared! Wheels are now enabled!
Dec 12 07:18:59 user.notice create-platform: [INFO] [1702365539.433863371] [create-platform]: Started mobility_monitor node
Dec 12 07:18:59 user.notice create-platform: [INFO] [1702365539.434053600] [create-platform]: Configuring robot_state node
Dec 12 07:18:59 user.notice create-platform: [INFO] [1702365539.440272596] [robot_state]: Lifecycle callback: on_configure
Dec 12 07:19:10 user.notice create-platform: [INFO] [1702365550.630026340] [create-platform]: Activating robot_state node
Dec 12 07:19:10 user.notice create-platform: [INFO] [1702365550.631237922] [robot_state]: Lifecycle callback: on_activate
Dec 12 07:19:11 user.notice create-platform: [INFO] [1702365551.633011869] [create-platform]: Started robot_state node
Dec 12 07:19:11 user.notice create-platform: [INFO] [1702365551.633208088] [create-platform]: Configuring static_transform node
Dec 12 07:19:16 user.notice create-platform: [INFO] [1702365556.616494628] [create-platform]: Activating static_transform node
Dec 12 07:19:17 user.notice create-platform: [INFO] [1702365557.617855402] [create-platform]: Started static_transform node
Dec 12 07:19:17 user.notice create-platform: [INFO] [1702365557.651553503] [create-platform]: Ready to go!
Dec 12 07:19:19 user.notice ntpd: ntpd: bad address '[3.irobot.pool.ntp.org](http://3.irobot.pool.ntp.org/)'
Dec 12 07:19:24 user.notice ntpd: ntpd: bad address '[2.irobot.pool.ntp.org](http://2.irobot.pool.ntp.org/)'

[mobility_monitor]: Lifecycle callback: on_configure

There is message of mobility_monitor. But, mobility_monitor is not displayed as the result of "ros2 node list".

ntpd: bad address '3.irobot.pool.ntp.org'

This setting is default of Create 3. But this message was displayed.

Dec 12 08:43:06 9 user.notice ntpd: ntpd: setting time to 2023-12-12 08:43:06.613270 (offset +1541.708478s)
Dec 12 08:43:07 9 user.notice ntpd: Time has been adjusted
Dec 12 08:43:08 9 user.notice create-platform: [INFO] [1702370588.064755498] [create-platform]: Activating robot_state node
Dec 12 08:43:08 9 user.notice create-platform: [INFO] [1702370588.065135356] [robot_state]: Lifecycle callback: on_activate
Dec 12 08:43:09 9 user.notice create-platform: [INFO] [1702370589.067671780] [create-platform]: Started robot_state node
Dec 12 08:43:09 9 user.notice create-platform: [INFO] [1702370589.067877411] [create-platform]: Configuring static_transform node
Dec 12 08:43:13 9 user.notice create-platform: [INFO] [1702370593.888521380] [create-platform]: Activating static_transform node
Dec 12 08:43:14 9 user.notice create-platform: [INFO] [1702370594.996938131] [create-platform]: Started static_transform node
Dec 12 08:43:15 9 user.notice create-platform: [INFO] [1702370595.002020809] [create-platform]: Ready to go!
Dec 12 08:43:24 9 user.notice create-platform: [INFO] [1702370604.782943521] [system_health]: CPU usage: max 93 [%] mean 54 [%] RAM usage: 33/59 [MB]
Dec 12 08:43:38 9 user.notice mosquitto: 1702370618: New connection from 127.0.0.1 on port 1883.
Dec 12 08:43:38 9 user.notice mosquitto: 1702370618: New client connected from 127.0.0.1 as mosqpub/2161-iRobot-717 (c1, k60).
Dec 12 08:43:38 9 user.notice mosquitto: 1702370618: Client mosqpub/2161-iRobot-717 disconnected.

CPU usage: max 93 [%] mean 54 [%] RAM usage: 33/59 [MB]

I'm concerned that CPU usage is high.

Client mosqpub/2161-iRobot-717 disconnected.

I'm concerned this message. Is the message okay?

[shamlian]

You state that things stop working after a firmware update. Did they work before the firmware update? If so, what version were you running? Firmware update seems like a red herring. From what you have provided, your robot appears to be normal. /odom is a topic; try ros2 topic list, not node list.

It looks to me like you have a Turtlebot 4; have you set it up according to the Turtlebot User Manual? ClearPath's TurtleBot 4 is a derivative product of iRobot's Create 3 robot, with its own separate configuration. Please direct any questions regarding TurtleBot 4 here.

[atinfinity]

Did they work before the firmware update?

Yes.

what version were you running?

$ ros2 topic list
/battery_state
/cmd_vel
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/dock_status
/function_calls
/hazard_detection
/hmi/buttons
/hmi/display
/hmi/display/message
/hmi/led
/imu
/interface_buttons
/ip
/joint_states
/joy
/joy/set_feedback
/mouse
/oakd/rgb/preview/camera_info
/oakd/rgb/preview/image_raw
/parameter_events
/robot_description
/rosout
/scan
/tf
/tf_static
/wheel_status

$ dpkg -l | grep turtlebot4
ii  ros-humble-turtlebot4-base           1.0.2-1jammy.20231110.141933 arm64 Turtlebot4 Base Node
ii  ros-humble-turtlebot4-bringup        1.0.2-1jammy.20231110.141930 arm64 Turtlebot4 Robot Bringup
ii  ros-humble-turtlebot4-description    1.0.4-1jammy.20231110.141112 arm64 Turtlebot4 Description package
ii  ros-humble-turtlebot4-diagnostics    1.0.2-1jammy.20231110.140732 arm64 Turtlebot4 Diagnostics
ii  ros-humble-turtlebot4-msgs           1.0.4-1jammy.20231110.141100 arm64 Turtlebot4 Messages
ii  ros-humble-turtlebot4-navigation     1.0.4-1jammy.20231110.141105 arm64 Turtlebot4 Navigation
ii  ros-humble-turtlebot4-node           1.0.4-1jammy.20231110.141352 arm64 Turtlebot4 Node
ii  ros-humble-turtlebot4-robot          1.0.2-1jammy.20231110.142347 arm64 Turtlebot4 Robot Metapackage
ii  ros-humble-turtlebot4-setup          1.0.3-1jammy.20231110.140550 arm64 Turtlebot4 setup scripts
ii  ros-humble-turtlebot4-tests          1.0.2-1jammy.20231110.141401 arm64 Turtlebot4 System Tests

$ dpkg -l | grep irobot
ii  ros-humble-irobot-create-control     2.1.0-1jammy.20231114.202717 arm64 Provides the diff-drive controller for the iRobot(R) Create(R) 3 Educational Robot.
ii  ros-humble-irobot-create-description 2.1.0-1jammy.20230919.204336 arm64 Provides the model description for the iRobot(R) Create(R) 3 Educational Robot.

ii  ros-humble-irobot-create-msgs        2.1.0-1jammy.20230919.212829 arm64 Package containing action, message, and service definitions used by the iRobot(R) Create(R) platform

It looks to me like you have a Turtlebot 4; have you set it up according to the Turtlebot User Manual?

Yes.

/odom is a topic; try ros2 topic list, not node list.

There is no odom topic.

[atinfinity]

I reinstall Raspberry Pi image to RasPi4.
http://download.ros.org/downloads/turtlebot4/

As a result, this problem is resolved.