- ROS2 Humble
- Yocto Distro
- Jetson Nano
- diff_drive_controller : 2.23.0
- controller_manager : 2.28.0
I have a python node publishing cmd_vel to a twist_mux and then to ros2_control. After a random (seems random) period of time, it seems that no cmd_vel are published and consequently motors are not running anymore. If I use the command
ros2 topic echo on the command vel topic, it starts working again. Can you help me understand this behavior ?
Everything is running on the jetson nano so it isn't a network issue. What I saw this morning is that when it happens the twist_mux seems asleep (I can't see it as a publisher when doing ros2 topic info) BUT it restarts everything and if I re-enter the same "ros2 topic info" command, twist_mux is among the publishers... So it is either a DDS issue either a twist_mux... That's my conclusions for now..
Thanks in advance.