ROS2 with Create3 over wifi

[tobias-kausch]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

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

Raspberry Pi 4

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.6

Which RMW is your robot running?

FastRTPS

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?

home network

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

None

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

Bluetooth (default)

Describe your question.

I want to control the create3 over wifi. I have the robot and pi4 connected to my home network over wifi. I can ping the create3's IP address from the pi4. My problem is that I cannot get the topic list from the robot in this configuration.

I believe that multicast is not supported by my network. Running the demo node talker/listener on the pi4 and a VM on my laptop works only when I set the talker-side computer to work with unicast (as per this guide: https://iroboteducation.github.io/create3_docs/setup/xml-config/). However, when I try to use the config file with the create3's IP address, I still do not get any topics from the robot.

Additionally, when connected to wifi, the create3 shows a red light ring during boot that disappears once boot is completed. The log is attached.

Do I need to pay attention to the boot sequence of the pi4 and create3? Do I need to configure unicast on the create3?

messages.txt