Create 3 messages hanging on Raspberry Pi 4

[jomoengineer]

I am trying to run some examples on the Create 3 with a Raspberry Pi 4 connected, but the commands just seem to hang.
Ex:

ubuntu@ubuntu:~$ ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}"
Waiting for an action server to become available...
Sending goal:
     {}

ubuntu@ubuntu:~$ ros2 topic echo /battery_state

I can see the topic list output and I am able to run the Twist example without issue, so I am unsure what the issue is.
Topic list output

ubuntu@ubuntu:~$ ros2 topic list
/battery_state
/cmd_audio
/cmd_lightring
/cmd_vel
/dock
/hazard_detection
/imu
/interface_buttons
/ir_intensity
/ir_opcode
/kidnap_status
/mouse
/odom
/parameter_events
/robot_state/transition_event
/rosout
/slip_status
/static_transform/transition_event
/stop_status
/system_monitor/transition_event
/tf
/tf_static
/wheel_status
/wheel_ticks
/wheel_vels

[justinIRBT]

Can you confirm you are using the same RMW implementation on both robot and laptop. Sometimes you can see the topic list with different RMW implementations, but the actions don’t work.

[jomoengineer]

I am not sure what you meat by "on both robot and laptop". I am not connecting via a Laptop outside of ssh to the Raspberry Pi. I am running the commands on the Raspberry Pi 4 connected to the Create 3 via USB-C.

I can see the topic list just fine though from the Raspberry Pi 4 as listed above.

[justinIRBT]

This is likely the same issue you are having with the other “Waiting for future problem”. I put a more detailed response in that issue:
#79 (comment)

[jomoengineer]

Yes, as posted in issue #79, using the 'DontRoute" option in the CycloneDDS profile.xml file did the trick.

ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}"
Waiting for an action server to become available...
Sending goal:
     {}

Goal accepted with ID: 7c373a8383f54498bbf988bd3e47d1e2

Result:
    is_docked: false

Goal finished with status: SUCCEEDED

[Rebecca-iRobot]

This oddly happened to me also when both my computer and robot’s RMW was set to fastrtps. When I switched both to cyclone dds, I was able to dock/undock without the message hanging. Not sure why, but it made it work!

[jomoengineer]

I am not clear as to what is meant by robot's RWM. Is there something that I am supposed to set on the Create 3 it self outside of the Raspberry Pi4?

[justinIRBT]

You can set the RMW implementation used by Create3 on the robot's webserver:
https://iroboteducation.github.io/create3_docs/setup/provision/
If your Create3 is connected to your wifi network, you can access the webserver by putting the robot's IP address in a web browser. If it is not connected to your wifi, you can put the robot in AP mode as described in the instructions here https://edu.irobot.com/create3-setup in Phase 3, steps 1&2. Instead of going to the "Connect" page, you can go to the "Application" page to find the RMW implementation options