Navigation not working, Controller server has died

[WhitebloodWind]

Robot Model

Turtlebot4 Standard

ROS distro

Jazzy

Networking Configuration

Simple Discovery

OS

Ubuntu 24.04

Built from source or installed?

Installed

Package version

Turtlebot4 Desktop

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

Navigation should work as intended

Actual behaviour

When starting up navigation, controller_server died halfway

2D Pose Estimate worked properly but using the Nav2 Goal failed. Terminal returns "Start Navigation" but the turtlebot4 is stuck. Rviz terminal constantly returns "Waiting for the slam_toolbox node configuration."

Error messages

To Reproduce

1. Ran SLAM with bluetooth teleop and generated a map
2. Used the map when running and the problem occured

Other notes

No response

[smatarCPR]

Hello @WhitebloodWind
Thank you for reaching out on the Turtlebot 4 Github page. I am very sorry to hear that your unit is not meeting expectations.

Based on the message provided in the terminal screenshot, it appears that either the initial pose for the Turtlebot 4 was not set in the RVIZ window, or the Navigation stack did not accept the initial pose.

Are you able to provide a screenshot of the RVIZ window where the navigation stack is running? In addition please provide the following details:

• Is the navigation stack running locally on the Raspberry Pi or is it being launched on an external remote computer?
• Are you able to provide the full terminal output for each item you are launching in separate text files?
• What kind of network are you using for the Turtlebot 4? Is it a 2.4 GHz network, a 5.0 GHz network or a dual-band network?
• Are you able to echo all the topics from the Create3 and Raspberry Pi on your external remote computer?
• What namespace is the Create3 republisher is set to? You can check this in the Create3 webserver under the Application Configuration tab.

Let me know the results of these checks. Looking forward to hearing from you soon.
Best Regards,
Saif M.

[WhitebloodWind]

I've been trying to run navigation but its somewhat cycling through new issues,

1. I'm running navigation on my external computer
2. My turtlebot4 is connected to a 5Ghz network
3. Topics are seen on the remote pc and raspberry pi
4. the republisher is set to /do_not_use/

I'm just wondering if this is because the specs of my external pc are too weak, since this worked on my other desktop

localizationlog.txt
navigationlog.txt

[WhitebloodWind]

Hi any updates on the situation? or you need more information?

[smatarCPR]

Hello @WhitebloodWind
Apologies for the delayed response. Thank you for providing the requested details. Based on this information I have the following questions/recommendations:

• Regarding the external computer, are you running Ubuntu natively on the computer or is it running an Ubuntu Virtual machine?
• You can monitor the computing load using htop when running the navigation stack. Check to see none of the CPU cores are being maxed out and the overall load is below the maximum output of the CPU.
• In terms of the screenshot provided, in the map, the Turtlebot appears to be in a section of the map with many features blocking the path. Is there a more open area where you can test the navigation stack? The path planner may be unable to generate valid paths to the objective goal.

Let me know the results of these checks. Looking forward to hearing from you soon.
Best Regards,
Saif

[WhitebloodWind]

At this point I believe its my computer's specification problem because my cpu is at full load, I am running on a dedicated ubuntu pc.
May I ask if virtual machines are strictly prohibited? and what are the minimum specs for the computer?