Nav2 does not work on Jazzy

[aharshac]

Robot Model

Turtlebot4 Standard

ROS distro

Jazzy

Networking Configuration

Discovery Server

OS

Ubuntu 24.04

Built from source or installed?

Installed

Package version

dpkg -l ros-jazzy-turtlebot4* | grep ^ii

ii ros-jazzy-turtlebot4-base 2.0.1-2noble.20241025.080249 arm64 Turtlebot4 Base Node
ii ros-jazzy-turtlebot4-bringup 2.0.1-2noble.20241118.200906 arm64 Turtlebot4 Robot Bringup
ii ros-jazzy-turtlebot4-description 2.0.1-1noble.20241118.200242 arm64 Turtlebot4 Description package
ii ros-jazzy-turtlebot4-diagnostics 2.0.1-2noble.20241025.080252 arm64 Turtlebot4 Diagnostics
ii ros-jazzy-turtlebot4-msgs 2.0.1-1noble.20240926.010643 arm64 Turtlebot4 Messages
ii ros-jazzy-turtlebot4-navigation 2.0.1-1noble.20241118.200018 arm64 Turtlebot4 Navigation
ii ros-jazzy-turtlebot4-node 2.0.1-1noble.20241018.082137 arm64 Turtlebot4 Node
ii ros-jazzy-turtlebot4-robot 2.0.1-2noble.20241118.201548 arm64 Turtlebot4 Robot Metapackage
ii ros-jazzy-turtlebot4-setup 2.0.2-1noble.20241025.080230 arm64 Turtlebot4 setup scripts
ii ros-jazzy-turtlebot4-tests 2.0.1-2noble.20241025.080005 arm64 Turtlebot4 System Tests

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

1. Robot description is published on /robot_description
2. Nav2 is initialized and robot shall move to goal

Actual behaviour

The same sequence was working on Humble but now does not on jazzy:

1. Robot description is published on /robot_description, but empty (also seen on Humble)
2. Nav2 is not initialized
3. SSH connections to RPi are terminated and reconnected after a moment
4. Create 3 and RPu do not publish tf
5. nav2 local and global costmaps are not published

Error messages

Logs to follow.

To Reproduce

1. rviz2 -d
2. ros2 launch turtlebot4_navigation slam.launch.py
3. ros2 launch turtlebot4_navigation nav2.launch.py

Other notes

No response

[aharshac]

1. Turtlebot 4 Intialized

Nodes:
/analyzers
/create3_repub
/joint_state_publisher
/joy_linux_node
/launch_ros_1338
/oakd
/oakd_container
/robot_state_publisher
/rplidar_composition
/rqt_gui_py_node_190567
/teleop_twist_joy_node
/turtlebot4_base_node
/turtlebot4_diagnostics
/turtlebot4_node

[aharshac]

2. slam_toolbox launched

Robot visualization cannot be seen.

Nodes:
/SlamToolboxPlugin
/SlamToolboxStateUpdateNode
/analyzers
/create3_repub
/joint_state_publisher
/joy_linux_node
/launch_ros_1338
/launch_ros_192027
/oakd
/oakd_container
/robot_state_publisher
/rplidar_composition
/rqt_gui_py_node_190567
/rviz
/rviz_navigation_dialog_action_client
/slam_toolbox
/teleop_twist_joy_node
/transform_listener_impl_581a8b2ebe10
/transform_listener_impl_581a8c196df0
/transform_listener_impl_624c17b81990
/turtlebot4_base_node
/turtlebot4_diagnostics
/turtlebot4_node

[aharshac]

3. nav2 started

Nodes:
/SlamToolboxPlugin
/SlamToolboxStateUpdateNode
/behavior_server
/bt_navigator
/collision_monitor
/controller_server
/docking_server
/global_costmap/global_costmap
/joint_state_publisher
/launch_ros_1338
/lifecycle_manager_navigation
/local_costmap/local_costmap
/oakd
/oakd_container
/planner_server
/robot_state_publisher
/rqt_gui_py_node_190567
/rviz
/rviz_navigation_dialog_action_client
/smoother_server
/teleop_twist_joy_node
/transform_listener_impl_57a9e45c4340
/transform_listener_impl_581a8b2ebe10
/transform_listener_impl_581a8c196df0
/transform_listener_impl_59c442156410
/turtlebot4_diagnostics
/turtlebot4_node
/velocity_smoother
/waypoint_follower

Topics:
/battery_state
/behavior_server/transition_event
/bt_navigator/transition_event
/clicked_point
/clock
/cmd_vel
/cmd_vel_nav
/collision_monitor/transition_event
/controller_server/transition_event
/diagnostics
/diagnostics_agg
/dock_status
/docking_server/transition_event
/downsampled_costmap
/downsampled_costmap_updates
/function_calls
/global_costmap/costmap
/global_costmap/costmap_raw
/global_costmap/costmap_raw_updates
/global_costmap/costmap_updates
/global_costmap/global_costmap/transition_event
/global_costmap/published_footprint
/global_costmap/voxel_marked_cloud
/hazard_detection
/hmi/buttons
/hmi/display
/hmi/display/message
/hmi/led
/imu
/initialpose
/interface_buttons
/ip
/joint_states
/joy
/local_costmap/clearing_endpoints
/local_costmap/costmap
/local_costmap/costmap_raw
/local_costmap/costmap_raw_updates
/local_costmap/costmap_updates
/local_costmap/footprint
/local_costmap/local_costmap/transition_event
/local_costmap/published_footprint
/local_costmap/static_layer
/local_costmap/static_layer_raw
/local_costmap/static_layer_raw_updates
/local_costmap/static_layer_updates
/local_costmap/voxel_grid
/local_costmap/voxel_layer
/local_costmap/voxel_layer_raw
/local_costmap/voxel_layer_raw_updates
/local_costmap/voxel_layer_updates
/local_costmap/voxel_marked_cloud
/local_plan
/map
/map_updates
/mobile_base/sensors/bumper_pointcloud
/mouse
/oakd/imu/data
/oakd/rgb/preview/camera_info
/oakd/rgb/preview/image_raw
/oakd/rgb/preview/image_raw/compressed
/oakd/rgb/preview/image_raw/compressedDepth
/oakd/rgb/preview/image_raw/theora
/oakd/rgb/preview/image_raw/zstd
/odom
/optimal_trajectory
/parameter_events
/particle_cloud
/plan
/plan_smoothed
/planner_server/transition_event
/robot_description
/rosout
/scan
/smoother_server/transition_event
/speed_limit
/tf
/tf_static
/trajectories
/transformed_global_plan
/velocity_smoother/transition_event
/waypoint_follower/transition_event
/waypoints
/wheel_status

[aharshac]

After starting nav2, outputs from rviz, slam_toolbox and nav2 hint at time sync issues. Also the image preview from OAK-D lags almost a second behind real-time!

rviz:

[SlamToolboxPlugin]: Waiting for the slam_toolbox node configuration.

slam_toolbox:

[slam_toolbox]: Message Filter dropping message: frame 'rplidar_link' at time 1732530543.461 for reason 'discarding message because the queue is full'

[smatarCPR]

Hello @aharshac ,
Thank you for reaching out on the Turtlebot 4 Github page. I am very sorry to hear you are encountering issues with the Turtlebot 4. Would it be possible to provide the following details:

1. What version of the Create3 firmware version are you running? This can be found Create3 Webserver homepage or the Update tab - https://iroboteducation.github.io/create3_docs/webserver/home/ https://iroboteducation.github.io/create3_docs/webserver/update/
2. Double check the Create3's connect tab and ensure that no Wi-Fi connection is being established on the Create3, this may affect the Discovery server.
3. Are you running on NAV on the Raspberry Pi or the offboard computer (your computer)?
4. Are you running on a 2.4 GHz or 5.0 GHz network?

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