How to run /robot_state node?

[CFBerryhill]

How are you connecting to your Create 3?

USB Ethernet (ROS 2)

Computer(s) Model(s) and Operating System(s)

pi 4 mounted

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.3

Which RMW is your robot running?

I don't know

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

No response

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

No

What is the Adapter Board's USB/BLE Toggle currently switched to?

None

Describe your question.

I want to launch the /robot_state node that I can see through node list as I enter the pi connected to the robot:

$ ros2 node list /_internal/composite_hazard /_internal/kinematics_engine /_internal/mobility /_internal/stasis /mobility_monitor /motion_control /robot_state /static_transform /system_health /ui_mgr

I'm sourced and I'm built - but I can't figure out how to actually run this node. I thought I found the package online irobot_create_common so I tried

$ ros2 run irobot_create_common /robot_state

but the package couldn't be found. I'm guessing that I'm just wrong on what the package is actually called.

still very new to ROS2 - I assume I'm missing something small / doing something silly. if someone I'm just not realizing that the node IS running, it isn't publishing to /odom at NEARLY 20 hz as the documentation here says. Any help appreciated.

[alsora]

If you see the node with ros2 node list it means that the node is running on the robot.
You should not try to run it yourself.
Users of create 3 can't run additional nodes on the robot

What you found online is part of the Create 3 Simulator and you should no try to use it in combination with a physical robot (it will cause problems as you will have multiple instances of the same node).

So, ignoring the first part, your actual problem is this one:

it isn't publishing to /odom at NEARLY 20 hz as the documentation here says

Can you provide more details on this?
What commands are you running? Are you getting any odometry messages at all ? Are you getting data on the other topics?

[CFBerryhill]

aaaand I'm 2/2 for silly mistakes. Here was my odom callback

def get_odom(self, msg): if self.odom is None: self.odom = msg self.pose_recieved = True self.get_logger().info('odom recieved: "%s"' % msg.header)

So, that makes sense! Fixed now and recieving messages at a much more sensible rate.