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I have a Clearpath husky robot setup with their ros noetic image (ubuntu 20.04 on amd64 architecture) clearpath-universal-noetic-amd64-0.5.14.iso which to my surprise did not come with ros and other packages pre-installed. So, I installed them (husky_base, husky_bringup, husky_control, husky_description, husky_gazebo, husky_msgs, husky_viz) manually. I followed the instructions on http://www.clearpathrobotics.com/assets/guides/noetic/husky/InstallHuskySoftware.html#installing-husky-software till the command sudo journalctl -u ros. rostopic list gives me the below output.

administrator@husky:~$ rostopic list
/cmd_vel
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/e_stop
/husky_velocity_controller/cmd_vel
/husky_velocity_controller/odom
/imu/data
/joint_states
/joy_teleop/cmd_vel
/joy_teleop/joy
/joy_teleop/joy/set_feedback
/odometry/filtered
/rosout
/rosout_agg
/set_pose
/tf
/tf_static
/twist_marker_server/cmd_vel
/twist_marker_server/feedback
/twist_marker_server/update
/twist_marker_server/update_full

But I don't see any message over them as there is no publisher.

administrator@husky:~$ rostopic info /husky_velocity_controller/odom 
Type: nav_msgs/Odometry

Publishers: None

Subscribers: 
 * /ekf_localization (http://husky:42525/)

For the same robot, I have ROS melodic on ubuntu 18.04 (trimmed down version supplied by clearpath) which can echo the same topics easily. The publisher for same topic in the working setup is husky_node. I think this is the issue over here but don't know how to fix it. My COMM light for noetic setup is RED and for melodic is GREEN.

administrator@husky:~$ rosnode list
/diagnostic_aggregator
/ekf_localization
/husky_node
/joy_teleop/joy_node
/joy_teleop/teleop_twist_joy
/robot_state_publisher
/rosout
/twist_marker_server
/twist_mux

This is the output of rosrun rqt_robot_monitor rqt_robot_monitor for noetic setup.

rqt_robot_monitor

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Did you select the Husky option while installing the ISO? Could you provide the output of sudo journalctl -u ros? (It wasn't include in the question).

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  • $\begingroup$ Thanks, Please see the screenshots. imgur.com/a/47e6DyF For the original question, "Default" was selected. Now, I tried to format the same PC again with "Install Clearpath Robot" option, then after some screens "husky", then after some screens, met with package manager error. I have my ethernet cable plugged in. Output of "sudo journalctl -u ros" isn't possible now as setup is flashed again and stuck at package manager error in screenshot. Please suggest. $\endgroup$ Jul 12, 2022 at 15:35
  • $\begingroup$ I flashed the iso on pendrive using balena etcher this time instead of unetbootin and it gave me different screen/ options. I also figured out the package manager error and installation went smooth this time. ROS is pre-installed but still after sending the required commands, COMM light is RED (not green). This pastebin contains output of all the commands which I sent. pastebin.com/SMzvRij1 $\endgroup$ Jul 12, 2022 at 18:26
  • $\begingroup$ Is the husky connected? Can you please provide the output of dmesg, lsusb and ls -lisah /dev/. $\endgroup$ Jul 12, 2022 at 20:42
  • $\begingroup$ Yes, the serial cable is connected. To double confirm this, I restarted the system back into melodic and it can communicate/ move wheels easily. Here are the dmesg, lsusb and ls -lisah /dev/ outputs of noetic setup: pastebin.com/xEgc69kz $\endgroup$ Jul 13, 2022 at 14:39
  • $\begingroup$ Looking at those logs, I do not see the prolific adapter connected. Can you do the same thing for Melodic please? $\endgroup$ Jul 13, 2022 at 16:18

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