Unable to replicate "Nav2 Single turtlebot3 world" simulation example

[akshay-ka]

Hello,

I'm new to open Open-RMF and have been working on integrating diadem-robot with Open-RMF.
As a first step, I'm trying to replicate the Nav2 Single turtlebot3 world simulation example from the free_fleet package.
However, even after following all the steps correctly, I'm unable to assign tasks to the robot. In fact, I could not see any active robots via rmf-web portal.
Below is the screenshot of the same.

I'm not sure what is the root cause for this issue.

Moreover, I'm unable to get the transform between base_footprint and map frames when I run ros2 run free_fleet_examples nav2_get_tf.py --namespace nav2_tb3 command.

Any idea as to why these two issues exists and any possible solutions for both ?
Could anyone provide guidance or clarification? Any help would be appreciated.

[aaronchongth]

Hey @akshay-ka! It looks like messages along the way are not being passed around as expected.

As a first step, I'm trying to replicate the Nav2 Single turtlebot3 world simulation example from the free_fleet package.

Can I confirm that you have gotten the simulation examples working without issues?

Moreover, I'm unable to get the transform between base_footprint and map frames when I run ros2 run free_fleet_examples nav2_get_tf.py --namespace nav2_tb3 command.

This could be a hint of what went wrong. Can you verify your robot's base_footprint and map frames exist and can be transformed with each other? You can try this tool on your robot, view_frames?

[akshay-ka]

Hi @aaronchongth , thanks for your reply.

Can I confirm that you have gotten the simulation examples working without issues?

Not exactly. As you mentioned, the messages along the way were not being passed around as expected.

However, I tried to run the simulation examples now, and everything works perfectly. I'm able to replicate the Nav2 Single turtlebot3 world simulation example on my work station (not yet on the robot, that would be the next step).

Note: I did not do any fix from my side, so I'm not sure what was the fix for this issue.
Thanks for your support.

[aaronchongth]

Hi @akshay-ka, good to hear that, we at least have an understanding that everything is working as expected on your host PC, and can narrow down the networking issue to between your robot and host PC. According to this architecture graph, https://github.com/open-rmf/free_fleet?tab=readme-ov-file#introduction, it is most likely due to the Zenoh bridge (on the robot) not working properly, or that the Zenoh bridge is not able to connect to the Zenoh router running on your host PC.

When I was performing hardware testing for free fleet, I set up some documentation for my personal setup, https://github.com/aaronchongth/the_keep, that you can refer to. Note that it might be broken, since I haven't looked at it for a while

[akshay-ka]

@aaronchongth

When I was performing hardware testing for free fleet, I set up some documentation for my personal setup, https://github.com/aaronchongth/the_keep, that you can refer to. Note that it might be broken, since I haven't looked at it for a while

Yes, the web link is broken.

[aaronchongth]

@akshay-ka try again, I've made the repository public

[akshay-ka]

@aaronchongth now it works. Thanks.