ruddyscent / qurtle

qurtle

qurtle's Issues

LDS failure

$ ros2 launch turtlebot3_bringup robot.launch.py

[ERROR] [hlds_laser_publisher-2]: process has died [pid 3754, exit code 255, cmd '/opt/ros/foxy/lib/hls_lfcd_lds_driver/hlds_laser_publisher --ros-args -r __node:=hlds_laser_publisher -r __node:=hlds_laser_publisher --params-file /tmp/launch_params_15gaf65l'].

Icons are not displayed in the QT-related app

• ROS distro: foxy
• Docker base image: Ubuntu 20.04
• Computer arch: linux/amd64, arm64/v8

Node discovery failure

When running in Docker on an M1 Mac, node discovery fails.

If you do it with rmw_fastrtps_cpp, the node discovery fails without any error message.

$ ros2 node list

If you set RMW as rmw_cycloid_cpp, you will get the following error message.

Use four wheels to drive

When driving the Turtlebot 3 with a configuration of two Dynamixel XM420-W210-Ts and two ball casters, it has a severe top wobble problem if it has multiple layers of tops.

It also changes to running on four XM420-W210-Ts to compensate for the increased weight when carrying various additional components.

Simplify docker compose commands

Since remote and sbc containers run on different machines, it is necessary to separate docker-compose.yml and Dockerfile. However, this makes it cumbersome to specify the related docker-compose configuration file or service name every time you run the docker compose command. Therefore, you should simplify the command by placing these configurations in separate directories.

For example, the configuration files related to the foxy remote will be placed at

./foxy/remote/

and those for the foxy sbc will be placed at

./foxy/sbc/

On Mac, node discovery fails

Searching for nodes in a single container fails. Run demo_nodes_cpp as a talker and listener, then ros2 node list shows no node.

It fails on both Intel and M1 Macs. This happens on both foxy and humble. Creating a container on Ubuntu 22.04 amd64 with the same settings does not cause the problem.

Enable auto-completion of colcon and vcstool

Add the following commands to ~/.bashrc:

source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
source /usr/share/vcstool-completion/vcs.bash

Most of the RMW is not available

Only rmw_fastrtps_cpp works, rmw_connext_cpp, rmw_cyclonedds_cpp, rmw_gurumdds_cpp do not work with the following error message:

RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run demo_nodes_cpp listener
[ERROR] [1693444469.702161959] [rcl]: Error getting RMW implementation identifier / RMW implementation not installed (expected identifier of 'rmw_connext_cpp'), with error message 'failed to find shared library 'rmw_connext_cpp', at /tmp/binarydeb/ros-foxy-rmw-implementation-1.0.3/src/functions.cpp:73', exiting with 1., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/rmw_implementation_identifier_check.c:139

RC-100 is not working

RC-100 is not working on the four-wheel firmware.

Use depth camera

When the RC-100 is powered off, the wheels rotate randomly

When the RC-100 is powered off, the wheels rotate randomly.

IMU on depth camera is not working

There is no readout from ICM20948.

• Product page: https://www.waveshare.com/imx219-83-stereo-camera.htm
• Product wiki: https://www.waveshare.com/wiki/IMX219-83_Stereo_Camera

Button 6 of RC-100 does not work correctly

The button 6 of RC-100 accelerates forward the qurtle. However, the front right wheel (id 2) does not rotate.