iRobotEducation / create3_examples create3_coverage

[alain-lnpcrd]

Hi,
I ask my question again since it has curiously disappeared.
I've had my create3 robot for less than a week.
I try these examples and especially create3_coverage.
The robot does not move.
Ubuntu 20.04 aarch64 on the Pi 4B (8GB mem)
Ros2 Galactic
remote Pi executions with bluetooth and currently Pi in the create3 with USB connection
remote runs with or without vscode
same symptoms

first terminal

pi@ubuntu:~/create3_examples_ws$ ros2 run create3_coverage create3_coverage
[INFO] [1670769789.597444365] [create3_coverage]: Node created!

second terminal

pi@ubuntu:~/create3_examples_ws$ ros2 action send_goal /coverage create3_examples_msgs/action/Coverage "{explore_duration:{sec: 500, nanosec: 0}, max_runtime:{sec: 1000,nanosec: 0}}"
Waiting for an action server to become available...
Sending goal:
     explore_duration:
  sec: 500
  nanosec: 0
max_runtime:
  sec: 1000
  nanosec: 0

Goal accepted with ID: 6056cf6a82fd4f5e9b8b07486c3ccb34

first terminal

pi@ubuntu:~/create3_examples_ws$ ros2 run create3_coverage create3_coverage
[INFO] [1670769789.597444365] [create3_coverage]: Node created!
[INFO] [1670770466.225761027] [create3_coverage]: Accepting goal request
[INFO] [1670770466.230214673] [create3_coverage]: Executing goal

third terminal

pi@ubuntu:~$ ros2 node list
/_internal/composite_hazard
/_internal/kinematics_engine
/_internal/mobility
/create3_coverage
/mobility_monitor
/motion_control
/robot_state
/static_transform
/system_health
/ui_mgr
pi@ubuntu:~$ ros2 action list --show-type
/audio_note_sequence [irobot_create_msgs/action/AudioNoteSequence]
/coverage [create3_examples_msgs/action/Coverage]
/dock [irobot_create_msgs/action/DockServo]
/drive_arc [irobot_create_msgs/action/DriveArc]
/drive_distance [irobot_create_msgs/action/DriveDistance]
/led_animation [irobot_create_msgs/action/LedAnimation]
/navigate_to_position [irobot_create_msgs/action/NavigateToPosition]
/rotate_angle [irobot_create_msgs/action/RotateAngle]
/undock [irobot_create_msgs/action/Undock]
/wall_follow [irobot_create_msgs/action/WallFollow]
pi@ubuntu:~$ 
pi@ubuntu:~$ ros2 node info /create3_coverage
/create3_coverage
  Subscribers:
    /dock: irobot_create_msgs/msg/Dock
    /hazard_detection: irobot_create_msgs/msg/HazardDetectionVector
    /ir_opcode: irobot_create_msgs/msg/IrOpcode
    /kidnap_status: irobot_create_msgs/msg/KidnapStatus
    /odom: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /cmd_vel: geometry_msgs/msg/Twist
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /create3_coverage/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /create3_coverage/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /create3_coverage/get_parameters: rcl_interfaces/srv/GetParameters
    /create3_coverage/list_parameters: rcl_interfaces/srv/ListParameters
    /create3_coverage/set_parameters: rcl_interfaces/srv/SetParameters
    /create3_coverage/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:
    /motion_control/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /motion_control/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /motion_control/get_parameters: rcl_interfaces/srv/GetParameters
    /motion_control/list_parameters: rcl_interfaces/srv/ListParameters
    /motion_control/set_parameters: rcl_interfaces/srv/SetParameters
    /motion_control/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Action Servers:
    /coverage: create3_examples_msgs/action/Coverage
  Action Clients:
    /dock: irobot_create_msgs/action/DockServo
    /undock: irobot_create_msgs/action/Undock
pi@ubuntu:~$ 

nothing more happens, the create3 remains on the base

[alain-lnpcrd]

Hi,
I had the bad idea to change in the RMW_IMPLEMENTATION configuration rmw_fastrtpst_cpp a few days ago.
I put back rmw_cycloneds-cpp save and save Applicaton ROS2 Parameters File then restart application and hop the widget has spread its wings. I wouldn't say much since I don't know what I'm talking about.
first terminal

pi@ubuntu:~/create3_examples_ws$ ros2 run create3_coverage create3_coverage
[INFO] [1670777185.698268256] [create3_coverage]: Node created!
[INFO] [1670777193.270527498] [create3_coverage]: Accepting goal request
[INFO] [1670777193.274490332] [create3_coverage]: Executing goal
[INFO] [1670777193.284435213] [create3_coverage]: Reflexes are enabled on the robot!
[INFO] [1670777193.285978410] [create3_coverage]: Sending undocking goal!
[INFO] [1670777199.109248214] [create3_coverage]: Undocking succeeded!
[INFO] [1670777200.408860440] [create3_coverage]: Reached drive straight max distance: 0.250898
[INFO] [1670777204.575563167] [create3_coverage]: Stop spiraling: time spent 4.133182/30.000000 hazards 1 dock 0
[INFO] [1670777206.442269518] [create3_coverage]: Rotation completed: from 0.101791 to 0.891077
[INFO] [1670777206.708858704] [create3_coverage]: Stop driving straight: traveled 0.003117/5.000000: hazards 2 dock 0
[INFO] [1670777209.108895092] [create3_coverage]: Rotation completed: from 1.078063 to 2.161911
[INFO] [1670777209.642229554] [create3_coverage]: Stop driving straight: traveled 0.056284/5.000000: hazards 2 dock 0
[INFO] [1670777215.242240922] [create3_coverage]: Rotation completed: from 2.339766 to -0.708152
[INFO] [1670777229.608866882] [create3_coverage]: Stop driving straight: traveled 3.485438/5.000000: hazards 1 dock 0
[INFO] [1670777231.542235117] [create3_coverage]: Rotation completed: from -0.891561 to -0.078151
[INFO] [1670777232.008873992] [create3_coverage]: Stop driving straight: traveled 0.030999/5.000000: hazards 1 dock 0
[INFO] [1670777235.342225888] [create3_coverage]: Rotation completed: from 0.116300 to 1.808680
[INFO] [1670777244.042219317] [create3_coverage]: Stop driving straight: traveled 2.078063/5.000000: hazards 1 dock 0
[INFO] [1670777245.908900594] [create3_coverage]: Rotation completed: from 1.984857 to 2.771002
[INFO] [1670777246.942216281] [create3_coverage]: Stop driving straight: traveled 0.174788/5.000000: hazards 1 dock 0
[INFO] [1670777249.342230503] [create3_coverage]: Rotation completed: from 2.948505 to 1.846647
[INFO] [1670777249.742213901] [create3_coverage]: Stop driving straight: traveled 0.024262/5.000000: hazards 1 dock 0
[INFO] [1670777251.908919027] [create3_coverage]: Rotation completed: from 1.650356 to 2.604194
[INFO] [1670777252.542243890] [create3_coverage]: Stop driving straight: traveled 0.080789/5.000000: hazards 1 dock 0
[INFO] [1670777255.742241296] [create3_coverage]: Rotation completed: from 2.775002 to -1.911463
[INFO] [1670777259.742228424] [create3_coverage]: Stop driving straight: traveled 0.901688/5.000000: hazards 1 dock 0
[INFO] [1670777261.609069089] [create3_coverage]: Rotation completed: from -1.737939 to -0.946854
[INFO] [1670777262.942209589] [create3_coverage]: Reached drive straight max distance: 0.258886
[INFO] [1670777270.142223031] [create3_coverage]: Stop spiraling: time spent 7.166624/30.000000 hazards 1 dock 0
[INFO] [1670777272.008903382] [create3_coverage]: Rotation completed: from -1.959885 to -1.170431
[INFO] [1670777272.975577814] [create3_coverage]: Stop driving straight: traveled 0.146051/5.000000: hazards 1 dock 0
[INFO] [1670777278.042251405] [create3_coverage]: Rotation completed: from -0.995111 to 1.683117
[INFO] [1670777282.408894470] [create3_coverage]: Stop driving straight: traveled 0.981226/5.000000: hazards 1 dock 0
[INFO] [1670777284.308884078] [create3_coverage]: Rotation completed: from 1.866588 to 2.677615
[INFO] [1670777285.108908115] [create3_coverage]: Stop driving straight: traveled 0.116131/5.000000: hazards 1 dock 0
[INFO] [1670777289.042231896] [create3_coverage]: Rotation completed: from 2.838530 to -1.394179
[INFO] [1670777293.308888857] [create3_coverage]: Stop driving straight: traveled 0.958387/5.000000: hazards 1 dock 0
[INFO] [1670777295.242229055] [create3_coverage]: Rotation completed: from -1.228817 to -0.416130
[INFO] [1670777300.608900569] [create3_coverage]: Stop driving straight: traveled 1.227232/5.000000: hazards 1 dock 0
[INFO] [1670777302.508896029] [create3_coverage]: Rotation completed: from -0.205983 to 0.603300
[INFO] [1670777303.042206677] [create3_coverage]: Stop driving straight: traveled 0.058863/5.000000: hazards 1 dock 0
[INFO] [1670777304.408903229] [create3_coverage]: Rotation completed: from 0.780955 to 0.305244
[INFO] [1670777304.875552623] [create3_coverage]: Stop driving straight: traveled 0.032343/5.000000: hazards 1 dock 0
[INFO] [1670777305.808941187] [create3_coverage]: Rotation completed: from 0.113135 to -0.144058
[INFO] [1670777306.308871097] [create3_coverage]: Stop driving straight: traveled 0.046080/5.000000: hazards 1 dock 0
[INFO] [1670777307.708900351] [create3_coverage]: Rotation completed: from -0.327183 to -0.841338
[INFO] [1670777308.375578897] [create3_coverage]: Stop driving straight: traveled 0.079439/5.000000: hazards 1 dock 0
[INFO] [1670777313.008914221] [create3_coverage]: Rotation completed: from -1.027083 to 2.821614
[INFO] [1670777321.275537940] [create3_coverage]: Stop driving straight: traveled 1.946393/5.000000: hazards 1 dock 0
[INFO] [1670777323.208890953] [create3_coverage]: Rotation completed: from 2.612474 to -2.856961
[INFO] [1670777324.008860286] [create3_coverage]: Stop driving straight: traveled 0.115818/0.250000: hazards 1 dock 0
[INFO] [1670777326.242297963] [create3_coverage]: Rotation completed: from -2.688266 to 2.593590
[INFO] [1670777326.642254102] [create3_coverage]: Stop driving straight: traveled 0.024689/0.250000: hazards 1 dock 0
[INFO] [1670777329.808893084] [create3_coverage]: Rotation completed: from 2.402914 to 0.836328
[INFO] [1670777331.175541137] [create3_coverage]: Reached drive straight max distance: 0.257168
[INFO] [1670777332.308883965] [create3_coverage]: Stop spiraling: time spent 1.099924/30.000000 hazards 1 dock 0
[INFO] [1670777334.208881795] [create3_coverage]: Rotation completed: from 1.318835 to 2.119983
[INFO] [1670777334.708869260] [create3_coverage]: Stop driving straight: traveled 0.047544/5.000000: hazards 1 dock 0
[INFO] [1670777336.908882199] [create3_coverage]: Rotation completed: from 2.295778 to 1.336932
[INFO] [1670777337.408883127] [create3_coverage]: Stop driving straight: traveled 0.042539/5.000000: hazards 1 dock 0
[INFO] [1670777342.808888139] [create3_coverage]: Rotation completed: from 1.159044 to -2.215999
[INFO] [1670777345.575574705] [create3_coverage]: Stop driving straight: traveled 0.588757/5.000000: hazards 1 dock 0
[INFO] [1670777347.442256741] [create3_coverage]: Rotation completed: from -2.043850 to -1.257146
[INFO] [1670777348.242252463] [create3_coverage]: Stop driving straight: traveled 0.113558/5.000000: hazards 1 dock 0
[INFO] [1670777351.808913843] [create3_coverage]: Rotation completed: from -1.103604 to 0.670435
[INFO] [1670777355.775553659] [create3_coverage]: Stop driving straight: traveled 0.880008/5.000000: hazards 1 dock 0
[INFO] [1670777357.708887246] [create3_coverage]: Rotation completed: from 0.892816 to 1.707653
[INFO] [1670777358.142227049] [create3_coverage]: Stop driving straight: traveled 0.031726/5.000000: hazards 1 dock 0
[INFO] [1670777360.942226150] [create3_coverage]: Rotation completed: from 1.886926 to -3.046962
[INFO] [1670777363.808890320] [create3_coverage]: Stop driving straight: traveled 0.612598/5.000000: hazards 1 dock 0
[INFO] [1670777365.742221314] [create3_coverage]: Rotation completed: from -2.869112 to -2.057005
[INFO] [1670777367.842226408] [create3_coverage]: Stop driving straight: traveled 0.425745/5.000000: hazards 1 dock 0
[INFO] [1670777369.708899315] [create3_coverage]: Rotation completed: from -1.871264 to -1.084040
[INFO] [1670777370.742213169] [create3_coverage]: Stop driving straight: traveled 0.172082/5.000000: hazards 1 dock 0
[INFO] [1670777372.575562466] [create3_coverage]: Rotation completed: from -0.904892 to -1.653871
[INFO] [1670777372.875614890] [create3_coverage]: Stop driving straight: traveled 0.007739/5.000000: hazards 2 dock 0
[INFO] [1670777374.242207702] [create3_coverage]: Rotation completed: from -1.840631 to -2.309814
[INFO] [1670777374.742206204] [create3_coverage]: Stop driving straight: traveled 0.045503/5.000000: hazards 2 dock 0
[INFO] [1670777382.342232710] [create3_coverage]: Rotation completed: from -2.489882 to 1.888790
[INFO] [1670777384.308876924] [create3_coverage]: Stop driving straight: traveled 0.377549/5.000000: hazards 1 dock 0
[INFO] [1670777386.208911143] [create3_coverage]: Rotation completed: from 1.719791 to 2.530967
[INFO] [1670777386.642249557] [create3_coverage]: Stop driving straight: traveled 0.032669/5.000000: hazards 1 dock 0
[INFO] [1670777389.542244096] [create3_coverage]: Rotation completed: from 2.704794 to -2.171334
[INFO] [1670777391.142243539] [create3_coverage]: Stop driving straight: traveled 0.299700/5.000000: hazards 1 dock 0
[INFO] [1670777393.008898261] [create3_coverage]: Rotation completed: from -1.981827 to -1.172231
[INFO] [1670777393.808875335] [create3_coverage]: Stop driving straight: traveled 0.113559/0.250000: hazards 1 dock 0
[INFO] [1670777395.042230841] [create3_coverage]: Rotation completed: from -0.991650 to -0.609714
[INFO] [1670777396.408878134] [create3_coverage]: Reached drive straight max distance: 0.260490
[INFO] [1670777403.608896446] [create3_coverage]: Stop spiraling: time spent 7.166631/30.000000 hazards 1 dock 0
[INFO] [1670777405.508901443] [create3_coverage]: Rotation completed: from -1.619613 to -0.810596
[INFO] [1670777408.542222287] [create3_coverage]: Stop driving straight: traveled 0.657094/5.000000: hazards 1 dock 0
[INFO] [1670777410.508907982] [create3_coverage]: Rotation completed: from -0.608316 to 0.193673
[INFO] [1670777415.542360260] [create3_coverage]: Stop driving straight: traveled 1.169664/5.000000: hazards 1 dock 0
[INFO] [1670777417.408927371] [create3_coverage]: Rotation completed: from 0.368653 to 1.156024
[INFO] [1670777420.808885596] [create3_coverage]: Stop driving straight: traveled 0.741072/5.000000: hazards 1 dock 0
[INFO] [1670777422.708906778] [create3_coverage]: Rotation completed: from 1.375787 to 2.183017
[INFO] [1670777423.242214463] [create3_coverage]: Stop driving straight: traveled 0.059453/5.000000: hazards 1 dock 0
[INFO] [1670777426.442223721] [create3_coverage]: Rotation completed: from 2.349768 to -2.332465
[INFO] [1670777433.142215438] [create3_coverage]: Stop driving straight: traveled 1.565780/5.000000: hazards 1 dock 0
[INFO] [1670777435.009006215] [create3_coverage]: Rotation completed: from -2.139235 to -1.353779
[INFO] [1670777435.642205652] [create3_coverage]: Stop driving straight: traveled 0.081611/5.000000: hazards 1 dock 0
[INFO] [1670777438.442233734] [create3_coverage]: Rotation completed: from -1.182060 to -2.513347
[INFO] [1670777438.908881739] [create3_coverage]: Stop driving straight: traveled 0.033794/5.000000: hazards 1 dock 0
[INFO] [1670777440.242234127] [create3_coverage]: Rotation completed: from -2.685086 to -3.139098
[INFO] [1670777441.108888437] [create3_coverage]: Stop driving straight: traveled 0.122870/5.000000: hazards 1 dock 0
[INFO] [1670777444.308886288] [create3_coverage]: Rotation completed: from 2.967994 to -1.754041
[INFO] [1670777444.742232368] [create3_coverage]: Stop driving straight: traveled 0.023632/5.000000: hazards 1 dock 0
[INFO] [1670777448.042209860] [create3_coverage]: Rotation completed: from -1.574078 to 0.113375
[INFO] [1670777452.208887828] [create3_coverage]: Stop driving straight: traveled 0.933734/5.000000: hazards 1 dock 0
[INFO] [1670777454.142231489] [create3_coverage]: Rotation completed: from 0.305549 to 1.121980
[INFO] [1670777454.908892899] [create3_coverage]: Stop driving straight: traveled 0.104958/5.000000: hazards 1 dock 0
[INFO] [1670777456.908935277] [create3_coverage]: Rotation completed: from 1.288677 to 2.137775
[INFO] [1670777458.242205444] [create3_coverage]: Reached drive straight max distance: 0.257732
[INFO] [1670777465.442221515] [create3_coverage]: Stop spiraling: time spent 7.166638/30.000000 hazards 1 dock 0
[INFO] [1670777467.342236104] [create3_coverage]: Rotation completed: from 1.161520 to 1.968975
[INFO] [1670777471.708914151] [create3_coverage]: Stop driving straight: traveled 0.987972/5.000000: hazards 1 dock 0
[INFO] [1670777473.608911370] [create3_coverage]: Rotation completed: from 2.146949 to 2.953034
[INFO] [1670777475.108902376] [create3_coverage]: Stop driving straight: traveled 0.277647/5.000000: hazards 1 dock 0
[INFO] [1670777477.042226093] [create3_coverage]: Rotation completed: from -3.139960 to -2.354261
[INFO] [1670777482.008887024] [create3_coverage]: Stop driving straight: traveled 1.129252/5.000000: hazards 1 dock 0
[INFO] [1670777483.908920409] [create3_coverage]: Rotation completed: from -2.152496 to -1.341854
[INFO] [1670777484.508882257] [create3_coverage]: Stop driving straight: traveled 0.070476/5.000000: hazards 1 dock 0
[INFO] [1670777488.208895257] [create3_coverage]: Rotation completed: from -1.166211 to 0.708749
[INFO] [1670777493.675532746] [create3_coverage]: Stop driving straight: traveled 1.257542/5.000000: hazards 1 dock 0
[INFO] [1670777495.542448225] [create3_coverage]: Rotation completed: from 0.927476 to 1.730194
[INFO] [1670777496.042263728] [create3_coverage]: Stop driving straight: traveled 0.042962/5.000000: hazards 1 dock 0
[INFO] [1670777501.742201052] [create3_coverage]: Rotation completed: from 1.901609 to -1.281674
[INFO] [1670777512.108922050] [create3_coverage]: Stop driving straight: traveled 2.153616/5.000000: hazards 1 dock 0
[INFO] [1670777514.042234230] [create3_coverage]: Rotation completed: from -1.048272 to -0.235581
[INFO] [1670777514.442221202] [create3_coverage]: Stop driving straight: traveled 0.021738/5.000000: hazards 2 dock 0
[INFO] [1670777516.608899421] [create3_coverage]: Rotation completed: from -0.031030 to 0.879346
[INFO] [1670777517.175529900] [create3_coverage]: Stop driving straight: traveled 0.056116/5.000000: hazards 1 dock 0
[INFO] [1670777519.342227767] [create3_coverage]: Rotation completed: from 1.054958 to 0.135791
[INFO] [1670777519.842218677] [create3_coverage]: Stop driving straight: traveled 0.044928/0.250000: hazards 2 dock 0
[INFO] [1670777525.408898695] [create3_coverage]: Rotation completed: from -0.038994 to 2.996077
[INFO] [1670777526.742198065] [create3_coverage]: Reached drive straight max distance: 0.256395
[INFO] [1670777528.775585497] [create3_coverage]: Stop spiraling: time spent 1.999981/30.000000 hazards 1 dock 0
[INFO] [1670777530.642212552] [create3_coverage]: Rotation completed: from -1.816390 to -1.030096
[INFO] [1670777533.908866509] [create3_coverage]: Stop driving straight: traveled 0.725890/5.000000: hazards 1 dock 0
[INFO] [1670777535.842204466] [create3_coverage]: Rotation completed: from -0.848943 to -0.062518
[INFO] [1670777546.575576660] [create3_coverage]: Stop driving straight: traveled 2.569043/5.000000: hazards 1 dock 0
[INFO] [1670777548.508884803] [create3_coverage]: Rotation completed: from 0.123644 to 0.936246
[INFO] [1670777552.375485404] [create3_coverage]: Stop driving straight: traveled 0.857617/5.000000: hazards 1 dock 0
[INFO] [1670777554.308820528] [create3_coverage]: Rotation completed: from 1.157543 to 1.955457
[INFO] [1670777554.775489884] [create3_coverage]: Stop driving straight: traveled 0.034017/5.000000: hazards 1 dock 0
[INFO] [1670777560.175708321] [create3_coverage]: Rotation completed: from 2.132450 to -1.265350
[INFO] [1670777562.875653762] [create3_coverage]: Stop driving straight: traveled 0.581477/5.000000: hazards 1 dock 0
[INFO] [1670777568.642224792] [create3_coverage]: Rotation completed: from -1.085488 to -0.296713
[INFO] [1670777571.042213316] [create3_coverage]: Stop driving straight: traveled 0.499897/5.000000: hazards 1 dock 0
[INFO] [1670777572.942238160] [create3_coverage]: Rotation completed: from -0.118787 to 0.685247
[INFO] [1670777577.775574091] [create3_coverage]: Stop driving straight: traveled 1.097717/5.000000: hazards 1 dock 0
[INFO] [1670777579.742231000] [create3_coverage]: Rotation completed: from 0.863989 to 1.658917
[INFO] [1670777581.275529576] [create3_coverage]: Stop driving straight: traveled 0.285257/5.000000: hazards 1 dock 0
[INFO] [1670777583.342239664] [create3_coverage]: Rotation completed: from 1.846952 to 2.657472
[INFO] [1670777583.942211833] [create3_coverage]: Stop driving straight: traveled 0.069500/5.000000: hazards 1 dock 0
[INFO] [1670777586.442256030] [create3_coverage]: Rotation completed: from 2.840937 to 1.681115
[INFO] [1670777586.875557661] [create3_coverage]: Stop driving straight: traveled 0.021688/5.000000: hazards 1 dock 0
[INFO] [1670777589.742276550] [create3_coverage]: Rotation completed: from 1.474425 to 0.159428
[INFO] [1670777590.375543400] [create3_coverage]: Stop driving straight: traveled 0.062805/0.250000: hazards 1 dock 0
[INFO] [1670777594.108886974] [create3_coverage]: Rotation completed: from -0.016218 to 1.731438
[INFO] [1670777594.575557998] [create3_coverage]: Stop driving straight: traveled 0.031252/0.250000: hazards 2 dock 0
[INFO] [1670777599.408925033] [create3_coverage]: Rotation completed: from 1.907245 to -0.641427
[INFO] [1670777600.508880539] [create3_coverage]: Stop driving straight: traveled 0.189343/0.250000: hazards 1 dock 0
[INFO] [1670777606.042242511] [create3_coverage]: Rotation completed: from -0.874554 to 2.455158
[INFO] [1670777607.109027181] [create3_coverage]: Stop driving straight: traveled 0.176322/0.250000: hazards 1 dock 0
[INFO] [1670777612.342349445] [create3_coverage]: Rotation completed: from 2.228593 to -1.346685
[INFO] [1670777613.742207293] [create3_coverage]: Reached drive straight max distance: 0.257419
[INFO] [1670777615.042228869] [create3_coverage]: Stop spiraling: time spent 1.266629/30.000000 hazards 1 dock 0
[INFO] [1670777616.975600936] [create3_coverage]: Rotation completed: from -0.332290 to 0.481805
[INFO] [1670777617.442421272] [create3_coverage]: Stop driving straight: traveled 0.045113/5.000000: hazards 1 dock 0
[INFO] [1670777621.308903050] [create3_coverage]: Rotation completed: from 0.673998 to 2.632471
[INFO] [1670777624.542212312] [create3_coverage]: Stop driving straight: traveled 0.724160/5.000000: hazards 1 dock 0
[INFO] [1670777626.442239278] [create3_coverage]: Rotation completed: from 2.877352 to -2.599473
[INFO] [1670777641.508866993] [create3_coverage]: Stop driving straight: traveled 3.637119/5.000000: hazards 1 dock 0
[INFO] [1670777643.442220385] [create3_coverage]: Rotation completed: from -2.421855 to -1.598128
[INFO] [1670777645.608892327] [create3_coverage]: Stop driving straight: traveled 0.452482/5.000000: hazards 1 dock 0
[INFO] [1670777647.542211012] [create3_coverage]: Rotation completed: from -1.410573 to -0.599659
[INFO] [1670777652.342196871] [create3_coverage]: Stop driving straight: traveled 1.101621/5.000000: hazards 1 dock 0
[INFO] [1670777654.342216140] [create3_coverage]: Rotation completed: from -0.408734 to 0.444397
[INFO] [1670777654.875540741] [create3_coverage]: Stop driving straight: traveled 0.045736/5.000000: hazards 1 dock 0
[INFO] [1670777660.342215043] [create3_coverage]: Rotation completed: from 0.626992 to -2.698031
[INFO] [1670777670.508905780] [create3_coverage]: Stop driving straight: traveled 2.435583/5.000000: hazards 1 dock 0
[INFO] [1670777672.442194443] [create3_coverage]: Rotation completed: from -2.493938 to -1.684844
[INFO] [1670777673.008870144] [create3_coverage]: Stop driving straight: traveled 0.056244/5.000000: hazards 1 dock 0
[INFO] [1670777676.842234999] [create3_coverage]: Rotation completed: from -1.497684 to 2.796896
[INFO] [1670777678.175526787] [create3_coverage]: Reached drive straight max distance: 0.257154
[INFO] [1670777683.442295613] [create3_coverage]: Stop spiraling: time spent 5.233361/30.000000 hazards 1 dock 0
[INFO] [1670777685.342321105] [create3_coverage]: Rotation completed: from 0.393010 to 1.203557
[INFO] [1670777691.675611667] [create3_coverage]: Stop driving straight: traveled 1.484037/5.000000: hazards 1 dock 0
[INFO] [1670777693.609037170] [create3_coverage]: Rotation completed: from 1.403306 to 2.210396
[INFO] [1670777694.075615113] [create3_coverage]: Stop driving straight: traveled 0.044936/5.000000: hazards 1 dock 0
[INFO] [1670777698.409014141] [create3_coverage]: Rotation completed: from 2.402535 to 0.157273
[INFO] [1670777706.008974624] [create3_coverage]: Stop driving straight: traveled 1.798494/5.000000: hazards 1 dock 0
[INFO] [1670777707.975550269] [create3_coverage]: Rotation completed: from -0.042934 to 0.759862
[INFO] [1670777708.775801801] [create3_coverage]: Stop driving straight: traveled 0.119369/5.000000: hazards 1 dock 0
[INFO] [1670777713.975671724] [create3_coverage]: Rotation completed: from 0.968752 to -2.592672
[INFO] [1670777717.275662020] [create3_coverage]: Stop driving straight: traveled 0.741944/5.000000: hazards 1 dock 0
[INFO] [1670777719.242381399] [create3_coverage]: Rotation completed: from -2.395911 to -1.579359
[INFO] [1670777719.609023392] [create3_coverage]: Stop driving straight: traveled 0.014198/5.000000: hazards 2 dock 0
[INFO] [1670777721.109009121] [create3_coverage]: Rotation completed: from -1.388258 to -1.943339
[INFO] [1670777721.742290904] [create3_coverage]: Stop driving straight: traveled 0.083723/5.000000: hazards 1 dock 0
[INFO] [1670777727.542349201] [create3_coverage]: Rotation completed: from -2.132253 to 1.028548
[INFO] [1670777732.408986966] [create3_coverage]: Stop driving straight: traveled 1.102777/5.000000: hazards 1 dock 0
[INFO] [1670777734.508970646] [create3_coverage]: Rotation completed: from 0.768453 to 1.554617
[INFO] [1670777735.509011142] [create3_coverage]: Stop driving straight: traveled 0.083128/5.000000: hazards 1 dock 0
[INFO] [1670777737.575632817] [create3_coverage]: Aborting ROTATE because initial hazard is not getting cleared
[INFO] [1670777737.642235507] [create3_coverage]: Coverage action terminated


`
second terminal
`000,nanosec: 0}}"
Waiting for an action server to become available...
Sending goal:
     explore_duration:
  sec: 500
  nanosec: 0
max_runtime:
  sec: 1000
  nanosec: 0

Goal accepted with ID: 8853f34a7cae48cdb502a4f28fc7dfd9

Result:
    success: false
is_docked: false
duration:
  sec: 544
  nanosec: 367316718

Goal finished with status: ABORTED
pi@ubuntu:~/create3_examples_ws$ 
`


The create3 finished at an angle above an indoor jardnet.

[alsora]

ROS 2 does not guarantee that applications running with different RMWs are able to communicate with each others, for this reason this situation is highly discouraged for most users.

In this case the two applications are: the coverage server and the create 3 robot application.