CLEARPATH Turtlebot4 User Manual page 153

Common issues with the user PC
1. ros2: command not found
Make sure you have sourced ROS2 galactic:
source /opt/ros/galactic/setup.bash
If you are building packages from source, you will also want to source the workspace:
source /path/to/ws/install/setup.bash
2. Create® 3 topics are not visible
First, check that the Create® 3 is connected to your WiFi network. You should be able to access
the Create® 3 portal by entering the Create® 3 IP address in a browser. For information on how
to connect the Create® 3 to WiFi, check the
If it is connected to WiFi, check if you can see Create® 3 topics on the Raspberry Pi.
If topics are visible on the Raspberry Pi, ensure that your PC has the following configuration set
for CycloneDDS:
<CycloneDDS>
<Domain>
<General>
<DontRoute>true</DontRoute>
</General>
</Domain>
</CycloneDDS>
To set this configuration automatically, add the following line to your
export
CYCLONEDDS_URI='<CycloneDDS><Domain><General><DontRoute>true</></></></>'
If you have set a ROS_DOMAIN_ID for the Create® 3, your terminal will have to have the same
ID. You can set the ID by using this command:
export ROS_DOMAIN_ID=#
Replace # with the ID.
If topics are not visible on the Raspberry Pi, you may need to restart the Create® 3 application
through the portal, or reboot the robot.
quick start guide.
~/.bashrc file.