Troubleshoot - Forestry-Robotics-UC/fruc_dataset_apparatus GitHub Wiki

Recording and Sensor Issues

No topics appearing when launching system

1. Check Docker containers are running:

   docker ps  # or: podman ps
   

   All sensor containers should show as "Up"

2. Check container logs for errors:

   docker logs ros2-apparatus-realsense  # or replace with other container name
   

3. Verify sensor hardware connections:

   • Check USB connections are secure
   • Verify Ethernet connections (for LiDAR)
   • Ensure devices are powered on

Topics missing after launch

Some topics may not appear if:

• The topic is disabled in the launch configuration
• The sensor driver failed to initialize (check container logs)
• The sensor hardware is disconnected or not responding

Recording stops prematurely

1. Check available disk space: df -h
2. Review recording container logs: docker logs ros2-apparatus-recording
3. Verify rosbag directory permissions: ls -ld rosbags/

ROS2 Specific Debugging

List all ROS2 topics

To see all active topics on the system:

ros2 topic list

To see detailed information about a specific topic:

ros2 topic echo /topic_name

Check ROS2 graph

Visualize the running ROS2 nodes and connections:

rqt_graph  # Requires GUI display

Or from command line:

ros2 node list

Common ROS2 Issues

ROS2 domain ID mismatch: Ensure all containers and client machines use the same ROS_DOMAIN_ID (default is 0)

Network connectivity: ROS2 requires UDP multicast on the local network. Some firewalls may block this.