Dock Action Not Working

[zonyl]

I am able to successfully send an "undock" message to the robot, however, "dock" does not work. It just hangs looking for action server. I have tried both fast and cyclone with the same results.

jason@ros1:~$ cat /etc/lsb-release
DISTRIB_ID=Ubuntu
DISTRIB_RELEASE=22.04
DISTRIB_CODENAME=jammy
DISTRIB_DESCRIPTION="Ubuntu 22.04.1 LTS"
jason@ros1:~$ rosversion -d
humble
jason@ros1:~$ ros2 action list -t
/audio_note_sequence [irobot_create_msgs/action/AudioNoteSequence]
/dock [irobot_create_msgs/action/DockServo]
/drive_arc [irobot_create_msgs/action/DriveArc]
/drive_distance [irobot_create_msgs/action/DriveDistance]
/led_animation [irobot_create_msgs/action/LedAnimation]
/navigate_to_position [irobot_create_msgs/action/NavigateToPosition]
/rotate_angle [irobot_create_msgs/action/RotateAngle]
/undock [irobot_create_msgs/action/Undock]
jason@ros1:~$ ros2 action send_goal /dock irobot_create_msgs/action/Dock "{}"
Waiting for an action server to become available...

[alsora]

Hi @zonyl,

You can see from the action list output that the dock action type is named DockServo and not Dock.
Please try again with the correct name for the type and it should work.

An additional note: your system is using ROS 2 Humble, but it looks like your robot is using ROS 2 Galactic.
It's not recommended to mix different versions of ROS.
We currently have a beta release of the create 3 firmware for Humble (find it here https://iroboteducation.github.io/create3_docs/releases/h_0_0/)
Among the various updates, in this release we also renamed the dock action to just Dock as the previous name was a source of confusion for the users.

[alsora]

FOR FUTURE READERS: the workaround mentioned by @slowrunner in the messages above is not correct and it should not be followed.

You shouldn't have cloned the irobot_create_msgs repository in the first place.
If you do that, you should make sure that you are cloning/building the correct version as indicated in the firmware page of the Create 3 build that you are using https://iroboteducation.github.io/create3_docs/releases/g_3_1/.

Please look at #251 for more details.

[zonyl]

Updating the firmware to the beta of galactic worked and fixed my problem. Thank you!!

…

On Thu, Nov 24, 2022, 7:56 AM Alberto Soragna ***@***.***> wrote: FOR FUTURE READERS: the workaround mentioned by @slowrunner <https://github.com/slowrunner> in the messages above is not correct and it should not be followed. You shouldn't have cloned the irobot_create_msgs repository in the first place. If you do that, you should make sure that you are cloning/building the correct version as indicated in the firmware page of the Create 3 build that you are using https://iroboteducation.github.io/create3_docs/releases/g_3_1/. Please look at #251 <#251> for more details. — Reply to this email directly, view it on GitHub <#240 (reply in thread)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AACYFFS6J2XHEHEHVAI552LWJ5QW3ANCNFSM6AAAAAAR6RTX2M> . You are receiving this because you were mentioned.Message ID: ***@***.*** .com>