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Troubleshooting

A list of common issues and their solutions are presented below.

Can't see topics over WiFi

If you cannot see any topics over WiFi, firstly, ensure you have connected to the WiFi network generated by the robot (probably called go2 with the password hotspot123). The following criteria must also be met.

  • ROS_DOMAIN_ID = 0
  • RMW_IMPLEMENTATION = rmw_cyclonedds_cpp
  • CycloneDDS version 0.10.2

If you still cannot see the topics, check that CycloneDDS is using the correct interface. Run echo $CYCLONEDDS_URI to see whether it points to a file or contains the configuration itself. Then check that the NetworkInterface tag has the name of the interface which is connected to the go2 network. You may need to run ros2 daemon stop then ros2 daemon start for the changes to take effect.

Can't see topics over Ethernet

If you cannot see any topics over Ethernet, check that you are connected to the robot. Try to ping 192.168.123.18 and check the destination is reachable.

If this connection works, ensure that the wired connection on your laptop has a static IPv4 address by disabling DHCP, setting the IPv4 address to 192.168.123.222 and the subnet to 255.255.255.0.

The ROS installation must also meet the requirements below.

  • ROS_DOMAIN_ID = 0
  • RMW_IMPLEMENTATION = rmw_cyclonedds_cpp
  • CycloneDDS version 0.10.2

If you still cannot see the topics, check that CycloneDDS is using the correct interface. Run echo $CYCLONEDDS_URI to see whether it points to a file or contains the configuration itself. Then check that the NetworkInterface tag has the name of the interface which is connected to the robot. You may need to run ros2 daemon stop then ros2 daemon start for the changes to take effect.

Can't view ROS messages over WiFi

There is a current known issue that prevents consistent viewing of messages sent via ROS over WiFi. If you run ros2 topic echo /<TOPIC> and the output hangs, it is likely the WiFi adapter bandwidth is saturated and packets are being dropped. This is a problem we are currently working on. If you must view the topics, use Ethernet.