"The passed message type is invalid" with Jetson Nano 4Gb + ROS 2 Galactic container

[ParadoxRobotics]

Hi,

I currently building a Turtlebot like robot with the Create3 ^ ^
I use a Jetson nano 4Gb (rev A) developper kit as the main processing unit connected in USB to the create3 and powered by an external battery.
I followed the instruction to set up my system : https://iroboteducation.github.io/create3_docs/setup/jetson/
But unfortunately, for every action (like dock/undock, audio, ...) I get :

root@MARVIN01:/# ros2 topic pub /cmd_audio irobot_create_msgs/msg/AudioNoteVector "{append: false, notes: [{frequency: 392, max_runtime: {sec: 0,nanosec: 177500000}}, {frequency: 523, max_runtime: {sec: 0,nanosec: 355000000}}, {frequency: 587, max_runtime: {sec: 0,nanosec: 177500000}}, {frequency: 784, max_runtime: {sec: 0,nanosec: 533000000}}]}" -1
The passed message type is invalid

It seems the irobot_create_msgs format is the issue, But I don't know how to solve this...
How can I build the https://github.com/iRobotEducation/irobot_create_msgs package in the container with ROS 2 ?
Is it specified in the documentation ?

Best regards

[alsora]

Yes, as you said, the problem is with the irobot_create_msgs package that is missing from your environment.

That's a regular ROS package, you can either build it from sources or install it from debian packages.

To install from Debian, just run this (you can also add these lines to your Dockerfile to avoid having to repeat them everytime)

sudo apt-get update
sudo apt-get install ros-galactic-irobot-create-msgs

To build from sources follow the instructions here https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html#build-a-package

[ParadoxRobotics]

It's the one provided in the documentation : ros:galactic-ros-base-l4t-r32.6.1
I will try with a more recent one !

[ParadoxRobotics]

I use a more recent container -> ros:galactic-pytorch-l4t-r35.1.0 (with Pytorch because I need it for an experiment)
I can Install all the dependencies, but unfortunately I still got :

root@MARVINN:/# ros2 topic pub /cmd_audio irobot_create_msgs/msg/AudioNoteVector "{append: false, notes: [{frequency: 392, max_runtime: {sec: 0,nanosec: 177500000}}, {frequency: 523, max_runtime: {sec: 0,nanosec: 355000000}}, {frequency: 587, max_runtime: {sec: 0,nanosec: 177500000}}, {frequency: 784, max_runtime: {sec: 0,nanosec: 533000000}}]}" -1
The passed message type is invalid

[alsora]

Have you sourced the ROS 2 setup scripts after adding new packages?
Assuming that you installed from apt-get, this should be

source /opt/ros/galactic/setup.sh

Unfortunately I don't have a Jetson nano at hand, but I just checked this in ROS 2 docker container and, after installing the ros-galactic-irobot-create-msgs package and sourcing the setup script, I'm able to use all Create 3 custom ROS 2 messages.

[ParadoxRobotics]

Hi,
thanks for yout answer.
I create my own image for the Jetson nano that support Ubuntu 20.04 and ROS2 : It work on the robot with no problem.
I will try your idea with my other jetson in the next day.

[bwmcin]

ParadoxRobotics, did you every try the idea with your other Jetson and did it work? Also, for the Ubuntu 20.04 which install did you do? I am just about ready to start once I get my Create 3 but want to prep ahead. Thank you.