Turtlebot 4 Nav2 not working.

[Simba185]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 24.04

Built from source or installed?

Installed

Package version

ros2 launch turtlebot4_navigation localization.launch.py map:=map_groupx.yaml namespace:=/Robot2
ros2 launch turtlebot4_navigation nav2.launch.py namespace:=/Robot2
ros2 launch turtlebot4_viz view_robot.launch.py namespace:=/Robot2

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

Rviz should start and map should appear and user should be able to set pose

Actual behaviour

Rviz opens and map takes about 30 sec to load but there is no localziation or nav available.

error is
[controller_server-1] [ERROR] [1764084931.973466788] [Robot2.local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist.
[planner_server-3] [INFO] [1764084932.154391937] [Robot2.global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

Error messages

[controller_server-1] [ERROR] [1764084931.973466788] [Robot2.local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist. 
[planner_server-3] [INFO] [1764084932.154391937] [Robot2.global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

To Reproduce

ros2 launch turtlebot4_navigation localization.launch.py map:=map_groupx.yaml namespace:=/Robot2
ros2 launch turtlebot4_navigation nav2.launch.py namespace:=/Robot2
ros2 launch turtlebot4_viz view_robot.launch.py namespace:=/Robot2

run theses in this order and the error above occurs.

Nav worked on Nov 21 without issues or changes.

Other notes

No response

[Simba185]

Reboot of the robot changes this error to

[rviz2-1] [INFO] [1764085558.271130027] [Robot2.rviz2]: Message Filter dropping message: frame 'odom' at time 1764085554.543 for reason 'discarding message because the queue is full'

robot and user pc are time synced

[Simba185]

Durring these operations the lidar rotation is starting and stopping.

[RustyCPR]

Hi there Tristan,
Please provide the Turtlebot logs:

• journalctl -b > turtlebot4_log.txt
• Terminal outputs in text file of all active terminal screens.
• Create3 Logs: https://iroboteducation.github.io/create3_docs/webserver/logs/
• When the issue is occuring - try getting the output of: htop

Thanks,
Rusty

[Simba185]

Hi there Rusty, Thank you for the quick response.

Upon the 4th reboot of the robot, all functions are working.

but the inconstancy is what is giving us trouble. Can you advise the best way to get consistent results?

[Simba185]

Hi there Rusty,

see the attached working outputs.

tb4log.zip

[Simba185]

So lastnight i docked the robot while leaving rviz open and running all nav stack.

when i returned in the am, all was working and well.

then upon repating the same action this am to keep the battery up, all items crashed as i guess it tried to go to sleep?

any way to disable this?

[dkavroulakis]

I have two turtlebot 4 lite robots and I get the same message (Message Filter dropping message: frame 'odom' at time 1764085554.543 for reason 'discarding message because the queue is full') too often and the robots don't work after this message. I don't know what to do with this message. Please provide us a solution for this.
Thank you @RustyCPR @smatarCPR @hilary-luo

[Simba185]

So the First issue is having the Robot on the dock completely confuses things. ( Must be off the dock and best to do a reboot.)

Next issue we get is issues with setting the initial pose, it seems the localization node has issues accepting the pose estimate and this causes the cost map to not generate, and you cannot navigate. try the same 3 steps over and over and gain and maybe it will work maybe it wont.

If there is a true solution to theses issues please state as such. So far we find the Turtlebot 4 to be nothing but inconsistent and unreliable.

[RustyCPR]

Thanks Tristan - I've engaged our internal teams to review and advise on.
I will let you know once I get work from them.

Best regards,
Rusty

[RustyCPR]

Hi Tristan - we haven't forgot your concern, this was escalated to our SW teams and we are awaiting their review and feedback. Thanks,
Rusty

[RustyCPR]

Hi Tristan,
Thanks for your patience. Some feedback from the team:

Can you please provide Create3 Logs: https://iroboteducation.github.io/create3_docs/webserver/logs/
Please confirm Create3 firmware version running?
Have you set up a NTP server and config to optimize syncing? Detailed here: #530 (comment)
Lastly, the team ask if upgrading to ROS2 Jazzy is something you would be willing explore?

Best regards,
Rusty

[Simba185]

Hi there Rusty, The Create 3 log is in the zip file above named tb4log.zip file is "messages(1).txt

Create3 firmware is H2.6 Humble

I suspect the NTP server is the issue ( we have not done this) Can you confirm these instructions are valid for Multiple robots?

The NTP server is not listed in the Official documentation, Should these instructions be treated as the Official documentation?

Thanks.