[Solved] Waiting for /controller_manager to come up

Hardware
1

Hello,

I recently unboxed a ROSBot 2R.
Using the documentation found here:

I go the the rosbot connected to the network. When I tried using docker everything worked EXCEPT I could not see the topics on other computers. LOCAL_HOST_ONLY was set to 0, so I am not sure how to fix this.

I then used this documentation to build the ros2 packages from scratch:

Again I can move the robot as long as I am using the docker, but I can’t send commands from other computers.
I was able to build the packages and when I run:

ros2 launch rosbot_bringup bringup.launch.py

It brings up most of the topics however, keeps giving the following errors:
[ros2_control_node-1] [WARN] [1689705038.740265061] [RosbotImuSensor]: Feedback message from imu wasn’t received yet
[ros2_control_node-1] [WARN] [1689705039.240611806] [RosbotImuSensor]: Feedback message from imu wasn’t received yet
[ros2_control_node-1] [WARN] [1689705039.740933957] [RosbotImuSensor]: Feedback message from imu wasn’t received yet
[ros2_control_node-1] [WARN] [1689705040.241254199] [RosbotImuSensor]: Feedback message from imu wasn’t received yet
[spawner-3] [INFO] [1689705040.343607717] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ services to be available

/cmd_vel will only appear AFTER these errors go away. For one time, no explainable reason, this service came up and it worked, I was able to see /cmd_vel. However, I had to have it running for about ten minutes. What am I doing wrong?

2

Alright, I have found another piece of the puzzle.
If I run docker compose -d microros
Then I run my built packages:
ros2 launch rosbot_bringup bringup…
It works. I can see the topics. So what is microros doing and why did the custom build not work?
I still have to try get lplidar to send to remote machines.

3

Hello @Brad_Towle and welcome to the Husarion Commnity!

We’ll try to reproduce your problem and let you know!

Best regards
Jan Brzyk

4

I’m getting the same exact issue. How do I fix it @JanBrzyk ? The steps that Brad took didn’t work for me.

Thanks,
Elianne

5

Never mind. It works now. Thank you!

6

@Elianne_Sacher,

can you share with the Community what was wrong?

Best regards
Jan Brzyk

7

It resolved itself with the new images provided in another community page. This is my current compose.yaml file that I’m running on the robot:

x-common-config:
&common-config
restart: unless-stopped
network_mode: host
ipc: host
user: ${DOCKER_UID:-1000}:${DOCKER_GID:-1000} # *
volumes:
- /etc/group:/etc/group:ro # *
- /etc/passwd:/etc/passwd:ro # *
- /etc/shadow:/etc/shadow:ro # *
- /home/husarion/.ros:/home/husarion/.ros # *
- ${FASTRTPS_DEFAULT_PROFILES_FILE:-dummy_volume_fastdds}:${FASTRTPS_DEFAULT_PROFILES_FILE:-/dummy_volume_fastdds}:ro # **
- ${CYCLONEDDS_PATH:-dummy_volume_cyclonedds}:${CYCLONEDDS_PATH:-/dummy_volume_cyclonedds}:ro # **
environment:
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # *** # I added this
- FASTRTPS_DEFAULT_PROFILES_FILE # ***
- CYCLONEDDS_URI # ***
- ROS_DOMAIN_ID # ***

services:
astra:
image: husarion/astra:humble
container_name: astra
<<: *common-config
devices:
- /dev/bus/usb/
command: ros2 launch astra_camera astra_mini.launch.py

rplidar:
image: husarion/rplidar:humble
container_name: rplidar
# <<: *common-config
restart: unless-stopped # I added this
network_mode: host # I added this
ipc: host # I added this
environment: # I added this
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # *** # I added this
- FASTRTPS_DEFAULT_PROFILES_FILE # *** # I added this
- CYCLONEDDS_URI # *** # I added this
- ROS_DOMAIN_ID # *** # I added this
devices:
- /dev/ttyRPLIDAR:/dev/ttyUSB0
command: >
ros2 launch sllidar_ros2 sllidar_launch.py
serial_baudrate:=${RPLIDAR_BAUDRATE:-256000}

microros:
image: husarion/micro-xrce-agent:v2.4.1
container_name: microros
<<: *common-config
devices:
- ${SERIAL_PORT:?err}
environment: #only two envs are valid for micro-xrce-agent
- FASTRTPS_DEFAULT_PROFILES_FILE # ***
- XRCE_DOMAIN_ID_OVERRIDE=${ROS_DOMAIN_ID:-} # ***
command: >
MicroXRCEAgent serial -D $SERIAL_PORT serial -b 576000 # -v6

rosbot:
image: husarion/rosbot:humble
container_name: rosbot
<<: *common-config
command: >
ros2 launch rosbot_bringup bringup.launch.py

volumes:
dummy_volume_fastdds:
dummy_volume_cyclonedds:

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