Can't drive TurtleBot4

[kylechen357]

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

1.0.0-1jammy.20240830.234728

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

I want to use teleop_twist_keyboard to drive my TurtleBot 4

Actual behaviour

When I click the keyboard, nothing happened.
User PC ros2 topics:
/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/image_raw
/parameter_events
/robot_description
/rosout
/scan
/tf
/tf_static
/wheel_status
TurtleBot 4 ros2 topics:
/battery_state
/cliff_intensity
/cmd_audio
/cmd_lightring
/cmd_vel
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/dock_status
/hazard_detection
/hmi/buttons
/hmi/display/message
/hmi/led
/imu
/interface_buttons
/ir_intensity
/ir_opcode
/joint_states
/joy
/kidnap_status
/mobility_monitor/transition_event
/mouse
/oakd/rgb/preview/image_raw
/odom
/parameter_events
/robot_description
/robot_state/transition_event
/rosout
/scan
/slip_status
/static_transform/transition_event
/stop_status
/tf
/tf_static
/wheel_status
/wheel_ticks
/wheel_vels

Error messages

No response

To Reproduce

~

Other notes

No response

[smatarCPR]

Hello @kylechen357
Thank you for reaching out on the Turtlebot 4 Github page. I am very sorry to hear that you are having issues with one of our products. I have a couple of questions regarding the state of the Turtlebot:

• Is the Turtlebot able to otherwise drive using either cmd_vel or the bluetooth controller?
• Is the Turtlebot docked or undocked?
• What command are you using to enable keyboard teleop, where are you running this command?
• If the Turtlebot is unable to drive regardless of the method used would it be possible to share the Create3 logs?

Looking forward to hearing from you soon.
Best Regards,
Saif

[kylechen357]

@smatarCPR Thanks for the response, here to answer some questions you ask:

1. When we bought the TurtleBot 4 lite, it doesn't give us the Bluetooth controller.
2. Either TurtleBot undocked or docked were both tested, they all don't get any response.
3. I were using the command of 'ros2 run teleop_twist_keyboard teleop_twist_keyboard' to enable keyboard teleop.
4. The log file is attached in this comment, and glad to hear the response from you.
   Thanks.
   messages.txt

[smatarCPR]

Hello @kylechen357 ,
Thank you for sending these. We'll take a look and let you know if we find anything. In the meantime I have a quick follow up question: does publishing a cmd_vel command work?

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \ "linear: x: 0.5 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0"

Let me know the results of this check. Looking forward to hearing from you soon.
Best Regards,
Saif

[kylechen357]

Dear @smatarCPR ,
Thanks for the response. And I have tested the command above that you mentioned in both user PC and TB4 environment.
Both run the error:
Traceback (most recent call last):
File "/opt/ros/humble/bin/ros2", line 33, in
sys.exit(load_entry_point('ros2cli==0.18.11', 'console_scripts', 'ros2')())
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 91, in main
rc = extension.main(parser=parser, args=args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/command/topic.py", line 41, in main
return extension.main(args=args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/pub.py", line 222, in main
return main(args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/pub.py", line 240, in main
return publisher(
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/pub.py", line 271, in publisher
values_dictionary = yaml.safe_load(values)
File "/usr/lib/python3/dist-packages/yaml/init.py", line 162, in safe_load
return load(stream, SafeLoader)
File "/usr/lib/python3/dist-packages/yaml/init.py", line 114, in load
return loader.get_single_data()
File "/usr/lib/python3/dist-packages/yaml/constructor.py", line 49, in get_single_data
node = self.get_single_node()
File "/usr/lib/python3/dist-packages/yaml/composer.py", line 36, in get_single_node
document = self.compose_document()
File "/usr/lib/python3/dist-packages/yaml/composer.py", line 55, in compose_document
node = self.compose_node(None, None)
File "/usr/lib/python3/dist-packages/yaml/composer.py", line 84, in compose_node
node = self.compose_mapping_node(anchor)
File "/usr/lib/python3/dist-packages/yaml/composer.py", line 127, in compose_mapping_node
while not self.check_event(MappingEndEvent):
File "/usr/lib/python3/dist-packages/yaml/parser.py", line 98, in check_event
self.current_event = self.state()
File "/usr/lib/python3/dist-packages/yaml/parser.py", line 428, in parse_block_mapping_key
if self.check_token(KeyToken):
File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 116, in check_token
self.fetch_more_tokens()
File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 223, in fetch_more_tokens
return self.fetch_value()
File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 577, in fetch_value
raise ScannerError(None, None,
yaml.scanner.ScannerError: mapping values are not allowed here
in "", line 1, column 11:
linear: x: 0.5 y: 0.0 z: 0.0 angular: x: ..
Moreover, I hope to hear the solution soon. Thank you.

[smatarCPR]

Hello @kylechen357
I have a couple questions/recommendations I wish for you to try:

• For the cmd_vel command there is an extra slash, typically used when the command is broken into multiple lines, try this form of the command - ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "linear: x: 0.5 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0"
• Is there communication between the Create3 and your computer (try echoing the /odom topic and seeing if you are getting the data)
• After publishing to cmd_vel, try subscribing to cmd_vel in a different terminal and seeing if the command you sent is indeed being published.
• One last recommendation would be to ensure that your packages have been updated per - https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html#updating-the-turtlebot-4

Let me know how this recommendation works for you. Looking forward to hearing from you soon.
Best Regards,
Saif