RTPS error when using SLAM with discovery server and Nav2 timeout errors

[FishDentistry]

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

1.0.0-1jammy.20231207.082431 for turtlebot-viz
1.0.4-1jammy.20231207.084603 for turtlebot_navigation

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

SLAM is operational and commands can be sent from RViz

Actual behaviour

A new error message also appears in the SLAM logs, and mapping never begins. Also, localization and navigation frequently return a timeout error akin to the second error shown below.

PC and Turtlebot are both using FastDDS

Error messages

SLAM: RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7429: open_and_lock_file failed -> Function open_port_internal

Localization/Navigation: failed to send response to /controller_server/change_state (timeout): client will not receive response

To Reproduce

1. Attempt to start up SLAM with PC and Turtlebot on 5GHz network with FastDDS configuration
2. SLAM does not start and outputs error above

Other notes

This error is occasional, and it is unclear what triggers it

[FishDentistry]

Update: After making the changes below, the localization and navigation errors are less frequent

1. Within navigation_launch.py, I added the parameter '{'bond_timeout': 0.0}' to the lifecycle_manager node.
2. I added the same bond_timeout parameter to the lifecycle_manager node in localization_launch.py file as well
3. In my nav2.yaml config file, I added 'bond_timeout: 0.0' under the ros__parameters of both bt_navigator and smoother_server

After doing the steps above, I (sometimes) get navigation and localization working together with a namespace robot using the discovery server configuration-it's spotty. These changes may not be responsible at all, as it could have something to do with repeatedly stopping and restarting both launches. As for the RTPS error, the only partial solution I've found is to clear the /dev/shm directory on the robot and PC, and then reboot the robot.

[smatarCPR]

Hello @FishDentistry ,
Thank you for reaching out on the Turtlebot 4 Github page. Apologies for the late reply on this. Would it be possible to provide the following items:

• May we please have the modified .py launch files you have added the bond_timeout parameter to
• Would it be possible to provide the full list of commands you are running in the order you are running them in
• Lastly, please provide the full terminal outputs of each command run.

Looking forward to hearing from you soon.
Best Regards,
Saif M.