Seeing "Wait on future" message when attempting to run Create3 example create3_dance from Raspberry Pi 4

[jomoengineer]

I am attempting to run the create3_dance from a Raspberry Pi 4 connected to the Create 3 via USB-C but I keep getting a "Wait on future" message when this is run.

ubuntu@ubuntu:~$ ros2 run create3_examples_py create3_dance
[INFO] [1655599782.640975807] [dance_command_publisher]: Subscribers connected, send safety_override param at time 1655599782.516661
[INFO] [1655599782.645117266] [dance_command_publisher]: Wait on future
[INFO] [1655599782.671943364] [dance_command_publisher]: Wait on future
[INFO] [1655599782.721962554] [dance_command_publisher]: Wait on future
[INFO] [1655599782.771942805] [dance_command_publisher]: Wait on future
[INFO] [1655599782.821936794] [dance_command_publisher]: Wait on future

Environment:
OS: Ubuntu 20.04
ROS 2: Galactic

Output of env:

$ env | grep ROS
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_LOCALHOST_ONLY=0
ROS_DISTRO=galactic

ROS 2 topic list:

$ 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

I am able to run the Twist example and the Create 3 does move, but I can not seem to get the create3_dance example to work.
Twist example output:

ubuntu@ubuntu:~$ ros2 topic pub -r 20 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"
publisher: beginning loop
publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.2, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #2: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.2, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

publishing #3: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.2, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

[justinIRBT]

Can you see if services are working with your setup?

A quick one to test is the e-stop service with

ros2 service call /e_stop irobot_create_msgs/srv/EStop "{e_stop_on: true}"

If services aren’t working with your setup, can you verify the RMW implementation is the same on the robot and laptop. If you have an SBC connected like a raspberry pi 4 and are using CycloneDDS, note the comment about the DontRoute config on the laptop here:
https://iroboteducation.github.io/create3_docs/setup/xml-config/

You can also try using FastRTPS on both robot and laptop if you are using cyclone and it isn’t working for you. Cyclone is pickier about config files for network setup.

[jomoengineer]

The service call you posted just hangs on the Raspberry Pi 4. However, I am not communicating with the Create 3 via a Laptop and am running the commands on the Raspberry 4 directly. Is this the wrong way to do this?

This is what I have in the bashrc on the Raspberry Pi 4

source /usr/share/colcon_cd/function/colcon_cd.sh
export _colcon_cd_root=/opt/ros/galactic/
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /opt/ros/galactic/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
#export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export CYCLONEDDS_URI=/home/ubuntu/develop/ros2/ros_install/profile.xml
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/ubuntu/develop/ros2/ros_install/profile_fast.xml

NOTE: I've tried to go between fastrtps and cyclonedss but there is no difference.

This is the profile.xml"

<CycloneDDS>
   <Domain>
     <General>
        <NetworkInterfaceAddress>usb0,wlan0</NetworkInterfaceAddress>
    </General>
   </Domain>
</CycloneDDS>

This is what is in the profile_fast.xml:

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
   <participant profile_name="unicast_connection" is_default_profile="true">
       <rtps>
           <builtin>
               <metatrafficUnicastLocatorList>
                   <locator/>
               </metatrafficUnicastLocatorList>
               <initialPeersList>
                   <locator>
                       <udpv4>
                           <address>192.168.186.2</address>
                       </udpv4>
                   </locator>
               </initialPeersList>
           </builtin>
       </rtps>
   </participant>
</profiles>

[jomoengineer]

I believe there is a routing issue between the RasPi4 and the Create 3. I see these in the Create 3 logs.
The 192.168.2.217 ip is the wlan ip for the RasPi4 although the USB ip is set to 192.168.186.3

Create 3 log messages:

Oct 27 09:35:27 iRobot-03A39D45471940D4A9F942B1B2F333AD user.notice create-platform: 1635327327.164218 [0]        tev: ddsi_udp_conn_write to udp/192.168.2.217:38122 failed with retcode -1
Oct 27 09:35:27 iRobot-03A39D45471940D4A9F942B1B2F333AD user.notice create-platform: 1635327327.564467 [0]        tev: ddsi_udp_conn_write to udp/192.168.2.217:38122 failed with retcode -1
Oct 27 09:35:27 iRobot-03A39D45471940D4A9F942B1B2F333AD user.notice create-platform: 1635327327.964961 [0]        tev: ddsi_udp_conn_write to udp/192.168.2.217:38122 failed with retcode -1
Oct 27 09:35:28 iRobot-03A39D45471940D4A9F942B1B2F333AD user.notice create-platform: 1635327328.470230 [0]        tev: ddsi_udp_conn_write to udp/192.168.2.217:38122 failed with retcode -1
Oct 27 09:35:28 iRobot-03A39D45471940D4A9F942B1B2F333AD user.notice create-platform: 1635327328.765050 [0]        tev: ddsi_udp_conn_write to udp/192.168.2.217:38122 failed with retcode -1

The 'ip a' info from RasPi 4

3: usb0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
    link/ether 2a:b2:dc:5e:43:45 brd ff:ff:ff:ff:ff:ff
    inet 192.168.186.3/24 brd 192.168.186.255 scope global usb0
       valid_lft forever preferred_lft forever
    inet6 fe80::28b2:dcff:fe5e:4345/64 scope link 
       valid_lft forever preferred_lft forever
4: wlan0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
    link/ether dc:a6:32:02:b2:d9 brd ff:ff:ff:ff:ff:ff
    inet 192.168.2.217/24 brd 192.168.2.255 scope global wlan0
       valid_lft forever preferred_lft forever
    inet6 fe80::dea6:32ff:fe02:b2d9/64 scope link 
       valid_lft forever preferred_lft forever

I can ping 192.168.186.2 from the RasPi4 though:

ubuntu@ubuntu:~$ ping 192.168.186.2
PING 192.168.186.2 (192.168.186.2) 56(84) bytes of data.
64 bytes from 192.168.186.2: icmp_seq=1 ttl=64 time=0.545 ms
64 bytes from 192.168.186.2: icmp_seq=2 ttl=64 time=0.480 ms

[jomoengineer]

This is the messages file from the Create 3
messages.txt
.

[jomoengineer]

Ah! Huzzah! Using the 'DontRoute" option in the CycloneDDS profile.xml file did the trick.

The Create3 now appears to be responding to the commands and undocked from the dock.

Thank you very much.

[justinIRBT]

Glad it is working for you! Given all the error messages you are getting on the robot with your network setup (assuming they are still there after you put the DontRoute config in), if you do run into anything weird with communication in the future, my suggestion would be to try FastRTPS on robot and RPi4 without the special config file for FastRTPS on the RPi4, just setting export RMW_IMPLEMENTATION=rmw_fastrtps_cpp on the RPi4 not setting a export FASTRTPS_DEFAULT_PROFILES_FILE. See #82 (reply in thread) for setting RMW on the robot.