Can't teleoperate TB4 with remote PC

[ValentinLeglise]

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

Type of issue

Networking

Expected behaviour

After connected the robot to the remote PC, the robot of my customer should be able to move after running "ros2 run teleop_twist_keyboard teleop_twist_keyboard", and should see all the TB4 topics with the command "ros2 topic list".

Actual behaviour

My customer can't drive his robot remotely with his PC. When he uses "ros2 run teleop_twist_keyboard teleop_twist_keyboard", or "ros2 topic pub /cmd_vel geometry_msgs/msg/Twist
"linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0" " , the robot doesn't respond. But, when he is in SSH into the robot, "ros2 topic pub /cmd_vel" works, but "ros2 run teleop_twist_keyboard" doesn't.

When he runs "ros2 topic list" on its PC, my customer only see 2 topic /rosout and /parameter_events.

Its probably a sourcing issue but, his .bashrc file and /etc/turtlebot4/setup.bash seems to be good:

.bashrc file:

'# ~/.bashrc: executed by bash(1) for non-login shells.

see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)

for examples

If not running interactively, don't do anything

case $- in
i) ;;
*) return;;
esac

don't put duplicate lines or lines starting with space in the history.

See bash(1) for more options

HISTCONTROL=ignoreboth

append to the history file, don't overwrite it

shopt -s histappend

for setting history length see HISTSIZE and HISTFILESIZE in bash(1)

HISTSIZE=1000
HISTFILESIZE=2000

check the window size after each command and, if necessary,

update the values of LINES and COLUMNS.

shopt -s checkwinsize

If set, the pattern "**" used in a pathname expansion context will

match all files and zero or more directories and subdirectories.

#shopt -s globstar

make less more friendly for non-text input files, see lesspipe(1)

[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"

set variable identifying the chroot you work in (used in the prompt below)

if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
debian_chroot=$(cat /etc/debian_chroot)
fi

set a fancy prompt (non-color, unless we know we "want" color)

case "$TERM" in
xterm-color|*-256color) color_prompt=yes;;
esac

uncomment for a colored prompt, if the terminal has the capability; turned

off by default to not distract the user: the focus in a terminal window

should be on the output of commands, not on the prompt

#force_color_prompt=yes

if [ -n "$force_color_prompt" ]; then
if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
# We have color support; assume it's compliant with Ecma-48
# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
# a case would tend to support setf rather than setaf.)
color_prompt=yes
else
color_prompt=
fi
fi

if [ "$color_prompt" = yes ]; then
PS1='${debian_chroot:+($debian_chroot)}[\033[01;32m]\u@\h[\033[00m]:[\033[01;34m]\w[\033[00m]$ '
else
PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w$ '
fi
unset color_prompt force_color_prompt

If this is an xterm set the title to user@host:dir

case "$TERM" in
xterm*|rxvt*)
PS1="[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a]$PS1"
;;
*)
;;
esac

enable color support of ls and also add handy aliases

if [ -x /usr/bin/dircolors ]; then
test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
alias ls='ls --color=auto'
#alias dir='dir --color=auto'
#alias vdir='vdir --color=auto'

alias grep='grep --color=auto'
alias fgrep='fgrep --color=auto'
alias egrep='egrep --color=auto'

fi

colored GCC warnings and errors

#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

some more ls aliases

alias ll='ls -alF'
alias la='ls -A'
alias l='ls -CF'

Add an "alert" alias for long running commands. Use like so:

sleep 10; alert

alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '''s/^\s*[0-9]+\s*//;s/[;&|]\s*alert$//''')"'

Alias definitions.

You may want to put all your additions into a separate file like

~/.bash_aliases, instead of adding them here directly.

See /usr/share/doc/bash-doc/examples in the bash-doc package.

if [ -f ~/.bash_aliases ]; then
. ~/.bash_aliases
fi

enable programmable completion features (you don't need to enable

this, if it's already enabled in /etc/bash.bashrc and /etc/profile

sources /etc/bash.bashrc).

if ! shopt -oq posix; then
if [ -f /usr/share/bash-completion/bash_completion ]; then
. /usr/share/bash-completion/bash_completion
elif [ -f /etc/bash_completion ]; then
. /etc/bash_completion
fi
fi

CYCLONEDDS_URI='true</></></></>'
export CYCLONEDDS_URI='true</></></></>'
source /etc/turtlebot4/setup.bash
source /etc/turtlebot4_discovery/setup.bash
#export ROS_DOMAIN_ID=30 #TURTLEBOT3'

/etc/turtlebot4/setup.bash

$ cat /etc/turtlebot4/setup.bash
source /opt/ros/humble/setup.bash
export ROS_DOMAIN=0
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

Error messages

No response

To Reproduce

1. Connect Tb4 to remote PC
2. run "ros2 run teleop_twist_keyboard teleop_twist_keyboard"

Other notes

No response