force rpi4 to send over usb0? #274
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I am going to insert a RPI4 into my brand new create3 and have both of them connected to my local WLAN, too. Because of this, I ask myself (and now you) a question: I assume, I am making a mistake in thinking, because I am totally new in ROS2. Please can you tell me, where I am wrong or what I have to do, to get this scenario working? |
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Replies: 2 comments 4 replies
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This is discussed here: You can see a section discussing using multiple network interfaces simultaneously for either Cyclone or FastDDS. This is what you will be doing on the Raspberry Pi, using both wlan0 and usb0. FastDDS will automatically use all the interfaces it finds on startup, with Cyclone (the default for galactic), you will have to supply a config file specifying both interfaces, that is covered in the link above. Make sure your Create is configured to use the same RMW (Cyclone or Fast) that you are using on the pi, that is configured on the Create’s webserver. |
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I want to add that there is no risk of "getting all messages twice" when using multiple network interfaces. |
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At the moment, after I had attached the RPI4 via USB to the create3 and sending one time docking and undocking command from the RPI4, the creat3 is "out of order". The color-ring is solid red and even if I press the middle-button more than 7 secondonds, nothing changes. |
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Were you able to get past this? If you are having trouble resetting the robot, the last resort is to take out the battery from the robot, leaving it unplugged for a couple of minutes, then plugging it back it and putting it on the dock to power on. If the robot continues to go red from your order of operations, you can pull the log from the webserver and attach to help figure out what is going on. |
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It "healed" itself. After a long time (30 - 60 minutes) staying in the dock, it first switched to solid yellow and after another while it switched to solid white. |
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Thank you very much for your answer! |
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This is discussed here:
https://iroboteducation.github.io/create3_docs/setup/xml-config/
You can see a section discussing using multiple network interfaces simultaneously for either Cyclone or FastDDS. This is what you will be doing on the Raspberry Pi, using both wlan0 and usb0. FastDDS will automatically use all the interfaces it finds on startup, with Cyclone (the default for galactic), you will have to supply a config file specifying both interfaces, that is covered in the link above. Make sure your Create is configured to use the same RMW (Cyclone or Fast) that you are using on the pi, that is configured on the Create’s webserver.