Log from Create3 Seizures supporting RTABmap and rviz2

[slowrunner]

How are you connecting to your Create 3?

Wi-Fi and USB Ethernet (ROS 2)

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

Ubuntu 22.04 in Docker over Raspberry Pi 5 PiOS Bookworm

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

(Latest Humble) H2.6

Which RMW is your robot running?

FastRTPS

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?

Yes: 2.4GHz Home WiFi (used for ntp - not using chrony for ntp)

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

Yes

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

USB

Describe your question.

Create3 log file from cold boot through two runs of RTABmap and rviz2

(Not looking for answers - just documenting the problem)

Create3 seized up periodically, eventually honoring some /cmd_vel topics for a short while, then would seize up again.

It survived and seemed to return to normal function when RTABmap and rviz2 exited:

• was able to drive Create3 back to dock area (after RTABmap and rviz2 exited)
• successfully /rotate_angle 180 to face dock
• successfully accomplished /dock
• CPU returned to

Using the following Create3 app config

motion_control:
  ros__parameters:
    # safety_override options are 
    # "none" - standard safety profile, robot cannot backup more than an inch because of lack of cliff protection in rear, max speed 0.306m/s
    # "backup_only" - allow backup without cliff safety, but keep cliff safety forward and max speed at 0.306m/s
    # "full" - no cliff safety, robot will ignore cliffs and set max speed to 0.46m/s
    safety_override: "full"

robot_state:
  ros__parameters:
    # publish_hazard_msgs: default true, set false to noticeably reduce CPU and RAM useage
    publish_hazard_msgs: false
    # publish_odom_tfs: default true, if not needed will noticeably reduce CPU and RAM use
    publish_odom_tfs: false 
    # raw_kinematics_min_pub_period_ms: default 25 , -1 disables /imu, /mouse, /wheel_status, /wheel_ticks, /wheel_vels (-1 recommended)
    raw_kinematics_min_pub_period_ms: -1
    # hazards_pub_fixed_period_ms: default -1 disables fixed period hazard publication, pubs only when change noted, 1: publish as soon as possible, 2+ period for constant publishing 

(Started rviz2 one to three minutes after starting RTABmap)

Started RTABmap at: Saturday 03/02/24 20:56:13 EST 01:56:13 UTC
Stopped RTABmap at: Saturday 03/02/24 21:09:20 EST 02:09:20 UTC

Re-Started RTABmap at: Saturday 03/02/24 21:10:03 EST 02:10:03 UTC
Stopped RTABmap at: Saturday 03/02/24 21:24:40 EST 02:24:40 UTC

Create3 has FastDDS Discover Server enabled with 192.168.186.3:11811
Raspberry Pi5 has usb0 mapped to 192.168.186.3 with Discovery server 0 running
Raspberry Pi5 uptime reported load around 2.0

pi@WaLiPi5:~/wali_pi5/c3ws $ docker logs r2hdp
START_WALI.SH EXECUTING
*** fastdds discovery -i 0 -l 192.168.186.3 -p 11811 -l 10.0.0.219 -p 11811 -l 127.0.0.1 -p 11811 &
### Server is running ###
  Participant Type:   SERVER
  Security:           NO
  Server ID:          0
  Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
  Server Addresses:   UDPv4:[192.168.186.3]:11811
                      UDPv4:[10.0.0.219]:11811
                      UDPv4:[127.0.0.1]:11811

*** Start F710 game controller node
*** ros2 launch teleop_twist_joy teleop-launch.py joy_config:="F710" 

*** Start odometer node
*** ros2 run wali odometer & 

*** Start wali.say_node
*** ros2 run wali say_node &
[INFO] [launch]: All log files can be found below /home/pi/.ros/log/2024-03-02-20-31-27-309296-WaLiPi5-74
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joy_node-1]: process started with pid [111]
[INFO] [teleop_node-2]: process started with pid [113]
** WaLI node started - Undock:99% Rotate:18% Dock:15% **
[teleop_node-2] [INFO] [1709429488.350749289] [TeleopTwistJoy]: Teleop enable button 4.
[teleop_node-2] [INFO] [1709429488.350816234] [TeleopTwistJoy]: Turbo on button 5.
[teleop_node-2] [INFO] [1709429488.350821567] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.150000.
[teleop_node-2] [INFO] [1709429488.350830734] [TeleopTwistJoy]: Turbo for linear axis x is scale 0.300000.
[teleop_node-2] [INFO] [1709429488.350835826] [TeleopTwistJoy]: Angular axis yaw on 0 at scale 0.250000.
[teleop_node-2] [INFO] [1709429488.350840141] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 0.500000.
[joy_node-1] [INFO] [1709429488.969516336] [joy_node]: Opened joystick: Logitech Gamepad F710.  deadzone: 0.300000
[INFO] [1709432669.096050691] [wali_node]: rotate Goal Accepted :)
[INFO] [1709432728.846013063] [wali_node]: rotate Goal Accepted :)
[INFO] [1709432968.892500090] [wali_node]: dock Goal Accepted

RTABmapLog.txt