How to debug republisher?

[slowrunner]

I ran a successful turtlebot4-update, and then performed a total shutdown-cold boot sequence recently. Now I am not seeing anything coming out of the republisher (no /battery_state, /dock_status, /odom, ...). I have forgotten how to diagnose this situation.

Here are the running procs:

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ./procs.sh 
%CPU %MEM CMD
 2.6  0.3 /home/ubuntu/TB5-WaLI/wali_ws/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node --ros-args -r __node:=rplidar_composition -r __ns:=/ --params-file /tmp/launch_params_999fmucx
 1.9  2.3 /opt/ros/jazzy/lib/rclcpp_components/component_container --ros-args -r __node:=oakd_container -r __ns:=/
 1.6  0.5 /home/ubuntu/TB5-WaLI/wali_ws/install/turtlebot4_node/lib/turtlebot4_node/turtlebot4_node --ros-args -r __ns:=/ --params-file /tmp/tmps53yuq4l --params-file /tmp/launch_params_9uybhn_2
 1.1  0.9 /usr/bin/python3 /opt/ros/jazzy/lib/joint_state_publisher/joint_state_publisher --ros-args -r __node:=joint_state_publisher -r __ns:=/ --params-file /tmp/launch_params_fmaq4ypj -r /tf:=tf -r /tf_static:=tf_static
 0.3  0.4 /opt/ros/jazzy/lib/robot_state_publisher/robot_state_publisher --ros-args -r __node:=robot_state_publisher -r __ns:=/ --params-file /tmp/launch_params_n53b3y7r --params-file /tmp/launch_params_9t8xl3fc -r /tf:=tf -r /tf_static:=tf_static
 0.0  0.9 /usr/bin/python3 /opt/ros/jazzy/bin/ros2 launch /tmp/turtlebot4.launch.py
 0.0  0.9 /usr/bin/python3 /home/ubuntu/TB5-WaLI/wali_ws/install/wali/lib/wali/wali_node
 0.0  0.9 /usr/bin/python3 /home/ubuntu/TB5-WaLI/wali_ws/install/wali/lib/wali/odometer
 0.0  0.8 /usr/bin/python3 /home/ubuntu/TB5-WaLI/wali_ws/install/wali/lib/wali/say_node
 0.0  0.5 /opt/ros/jazzy/lib/create3_republisher/create3_republisher --ros-args -r __ns:=/ --params-file /home/ubuntu/TB5-WaLI/wali_ws/install/turtlebot4_bringup/share/turtlebot4_bringup/config/republisher.yaml --params-file /tmp/launch_params_fofry6z_ -r cmd_vel:=cmd_vel_unstamped -r cmd_vel_stamped:=cmd_vel
 0.0  0.4 /usr/bin/python3 /opt/ros/jazzy/bin/ros2 run wali wali_node
 0.0  0.4 /usr/bin/python3 /opt/ros/jazzy/bin/ros2 run wali say_node
 0.0  0.4 /usr/bin/python3 /opt/ros/jazzy/bin/ros2 run wali odometer
 0.0  0.0 /bin/bash /usr/sbin/turtlebot4-start

The republisher is running.

Here is the node list:

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 node list
/create3_repub
/joint_state_publisher
/joy_linux_node
/launch_ros_10179
/oakd
/oakd_container
/odometer
/robot_state_publisher
/rplidar_composition
/say
/teleop_twist_joy_node
/turtlebot4_node
/wali_node

Here is the topic list:

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 topic list
/battery_state
/cmd_audio
/cmd_lightring
/cmd_vel
/cmd_vel_unstamped
/diagnostics
/dock_status
/function_calls
/imu
/interface_buttons
/ip
/joint_states
/joy
/joy/set_feedback
/oakd/rgb/preview/camera_info
/oakd/rgb/preview/image_raw
/oakd/rgb/preview/image_raw/compressed
/oakd/rgb/preview/image_raw/compressedDepth
/oakd/rgb/preview/image_raw/theora
/oakd/rgb/preview/image_raw/zstd
/odom
/parameter_events
/robot_description
/rosout
/scan
/stop_status
/tf
/tf_static
/wheel_status

BUT create3 topics are not being republished:

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 topic hz /battery_state
WARNING: topic [/battery_state] does not appear to be published yet
^Cubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ cmds/echo_battery_state.sh 

*** ECHO BATTERY STATE
Wed Sep 17 09:43:11 EDT 2025
ros2 topic echo --once --flow-style -l 1 --qos-reliability best_effort --qos-durability volatile /battery_state
^C

Repub info:

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 node info /create3_repub
/create3_repub
  Subscribers:
    /cmd_audio: irobot_create_msgs/msg/AudioNoteVector
    /cmd_lightring: irobot_create_msgs/msg/LightringLeds
    /cmd_vel: geometry_msgs/msg/TwistStamped
    /cmd_vel_unstamped: geometry_msgs/msg/Twist
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /battery_state: sensor_msgs/msg/BatteryState
    /dock_status: irobot_create_msgs/msg/DockStatus
    /imu: sensor_msgs/msg/Imu
    /interface_buttons: irobot_create_msgs/msg/InterfaceButtons
    /odom: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
    /stop_status: irobot_create_msgs/msg/StopStatus
    /tf: tf2_msgs/msg/TFMessage
    /tf_static: tf2_msgs/msg/TFMessage
    /wheel_status: irobot_create_msgs/msg/WheelStatus
  Service Servers:
    /create3_repub/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /create3_repub/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /create3_repub/get_parameters: rcl_interfaces/srv/GetParameters
    /create3_repub/get_type_description: type_description_interfaces/srv/GetTypeDescription
    /create3_repub/list_parameters: rcl_interfaces/srv/ListParameters
    /create3_repub/set_parameters: rcl_interfaces/srv/SetParameters
    /create3_repub/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
    /e_stop: irobot_create_msgs/srv/EStop
    /reset_pose: irobot_create_msgs/srv/ResetPose
    /robot_power: irobot_create_msgs/srv/RobotPower
  Service Clients:

  Action Servers:
    /audio_note_sequence: irobot_create_msgs/action/AudioNoteSequence
    /dock: irobot_create_msgs/action/Dock
    /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
    /wall_follow: irobot_create_msgs/action/WallFollow
  Action Clients:

This is the create3 about info:

System Info
>>>>>>> system IP address
unknown

>>>>>>> system version
I.0.0.FastDDS

>>>>>>> system sku
RCi3099

>>>>>>> system battery
Percentage:100
Capacity(mAh):1145

>>>>>>> system properties
   PRODUCT         : create3
   SERIAL          : e17628
   CLEAN MODE      : normal
   CONNS SVC MODE  : normal
   AP RADIO        : wlan1/g/6/[SHORT-GI-20][GF]/Create-883C/US
   AP IP ADDR      : 192.168.10.1
   CL IP           : dhcp/#/#/#
   CL DNS          : #/#/#
   CL DHCPCD T/O   : 3
   CL REG DOMAIN   : #
   ETH0 IP         : static/192.168.186.2/192.168.186.3
   USB0 IP         : 192.168.186.2/192.168.187.2/192.168.186.3
   SYSTEM_ACCESS   : locked
   DEVELOPMENT MODE: disabled
   RADIO_LIST      : wlan0 wlan1
   HOSTNAME        : iRobot-883C456BE1E840DC89E64B28B4F75B53
   ROBOT ID        : 883C456BE1E840DC89E64B28B4F75B53
   BOOT COUNT      : 59
   LANGUAGE PACK   : unknown
   EXTRA LANGUAGE  : not_installed


>>>>>>> system date
Wed Sep 17 13:46:40 UTC 2025

>>>>>>> system uptime
 13:46:40 up 2 days, 20:50,  load average: 1.05, 0.94, 0.94

>>>>>>> system memory
              total        used        free      shared  buff/cache   available
Mem:          59088       32820        1504         456       24764       24116
Swap:             0           0           0

>>>>>>> system ifconfig
lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          UP LOOPBACK RUNNING  MTU:65536  Metric:1
          RX packets:12502 errors:0 dropped:0 overruns:0 frame:0
          TX packets:12502 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:678397 (662.4 KiB)  TX bytes:678397 (662.4 KiB)

usb0      Link encap:Ethernet  HWaddr 46:D4:78:62:A4:7F  
          inet addr:192.168.186.2  Bcast:192.168.186.255  Mask:255.255.255.0
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:8014 errors:0 dropped:0 overruns:0 frame:0
          TX packets:1298973 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:262908 (256.7 KiB)  TX bytes:499007083 (475.8 MiB)


>>>>>>> system hciconfig

My environment variables:

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ printenv | grep ROS
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_SUPER_CLIENT=True
ROS_DOMAIN_ID=5
ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
ROS_DISTRO=jazzy
ROS_DISCOVERY_SERVER=127.0.0.1:11811;

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ printenv | grep TURTLE
TURTLEBOT4_DIAGNOSTICS=0

Bottom of the .bashrc:

export ROBOT_SETUP=/etc/turtlebot4/setup.bash
source $ROBOT_SETUP
source /etc/turtlebot4/aliases.bash

/etc/turtlebot4/setup.bash:

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ more /etc/turtlebot4/setup.bash 
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
export CYCLONEDDS_URI="/etc/turtlebot4/cyclonedds_rpi.xml"
export FASTRTPS_DEFAULT_PROFILES_FILE="/etc/turtlebot4/fastdds_rpi.xml"
export ROBOT_NAMESPACE=""
export ROS_DOMAIN_ID="5"
export ROS_DISCOVERY_SERVER="127.0.0.1:11811;"
export RMW_IMPLEMENTATION="rmw_fastrtps_cpp"
export TURTLEBOT4_DIAGNOSTICS="0"
export WORKSPACE_SETUP="/home/ubuntu/TB5-WaLI/wali_ws/install/setup.bash"
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
export ROBOT_SETUP=/etc/turtlebot4/setup.bash

source $WORKSPACE_SETUP

If I send an undock action request, it is accepted but not executed:

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ cmds/undock.sh 

** UNDOCK **
** ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}"
Waiting for an action server to become available...
Sending goal:
     {}

Goal accepted with ID: 9361289f73f54a43a5243ce32c117370
(no further responses)
^CCanceling goal...
Goal canceled.
Result:
    is_docked: false

Goal finished with status: CANCELED

Create3 Logs:

2025-09-17_Create3_Logs.txt

[hilary-luo]

@slowrunner start with the logs on the pi. You can see the create3 repub node is up so look and see if it reported any errors. You can also look at ros2 node info for the create3 repub node to investigate what subscriptions / publishers it has running to confirm that they are the ones you expect, and then follow that up with ros2 topic info /topic --verbose to look and see if there are publishers on the topics that the republisher is subscribed to or subscribers on the topics it is publishing. (Of course replace /topic with the actual topic and for node info add the node to that command as well)

[slowrunner]

Thank you for looking at my question. It can feel very lonely around here :)

see the create3 repub node is up

Yes

see if it reported any errors

There is only one repub log in ~/.ros/log - and it all seems good till the end. Don't understand the signum=2 at the end of the log 8 seconds after the ready to go. It is running.

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ more ~/.ros/log/create3_republisher_13307_1737159320410.log 
[INFO] [1737159320.535623982] [create3_repub]: Creating republisher node with namespace '/' to interact with robot '_do_not_use'
[INFO] [1737159320.535859149] [create3_repub]: Found 8 entities for robot_publishers
[INFO] [1737159320.535890464] [create3_repub]: Subscribing to topic '_do_not_use/battery_state' and republishing it as '/battery_state' with type 'sensor
_msgs/msg/BatteryState'
[INFO] [1737159320.549158962] [create3_repub]: Subscribing to topic '_do_not_use/dock_status' and republishing it as '/dock_status' with type 'irobot_cre
ate_msgs/msg/DockStatus'
[INFO] [1737159320.561312311] [create3_repub]: Subscribing to topic '_do_not_use/imu' and republishing it as '/imu' with type 'sensor_msgs/msg/Imu'
[INFO] [1737159320.568997673] [create3_repub]: Subscribing to topic '_do_not_use/interface_buttons' and republishing it as '/interface_buttons' with type
 'irobot_create_msgs/msg/InterfaceButtons'
[INFO] [1737159320.581456856] [create3_repub]: Subscribing to topic '_do_not_use/odom' and republishing it as '/odom' with type 'nav_msgs/msg/Odometry'
[INFO] [1737159320.595953448] [create3_repub]: Subscribing to topic '_do_not_use/tf' and republishing it as '/tf' with type 'tf2_msgs/msg/TFMessage'
[INFO] [1737159320.610913801] [create3_repub]: Subscribing to topic '_do_not_use/tf_static' and republishing it as '/tf_static' with type 'tf2_msgs/msg/T
FMessage'
[INFO] [1737159320.618578292] [create3_repub]: Subscribing to topic '_do_not_use/wheel_status' and republishing it as '/wheel_status' with type 'irobot_c
reate_msgs/msg/WheelStatus'
[INFO] [1737159320.627090174] [create3_repub]: Found 4 entities for robot_subscriptions
[INFO] [1737159320.627150340] [create3_repub]: Subscribing to topic '/cmd_audio' and republishing it as '_do_not_use/cmd_audio' with type 'irobot_create_
msgs/msg/AudioNoteVector'
[INFO] [1737159320.634823739] [create3_repub]: Subscribing to topic '/cmd_lightring' and republishing it as '_do_not_use/cmd_lightring' with type 'irobot
_create_msgs/msg/LightringLeds'
[INFO] [1737159320.641109432] [create3_repub]: Subscribing to topic '/cmd_vel' and republishing it as '_do_not_use/cmd_vel' with type 'geometry_msgs/msg/
Twist'
[INFO] [1737159320.649611980] [create3_repub]: Subscribing to topic '/cmd_vel_stamped' and republishing it as '_do_not_use/cmd_vel_stamped' with type 'ge
ometry_msgs/msg/TwistStamped'
[INFO] [1737159320.658908696] [create3_repub]: Found 3 entities for robot_services
[INFO] [1737159320.658985344] [create3_repub]: Remapping robot service '_do_not_use/e_stop' as '/e_stop' with type 'irobot_create_msgs/srv/EStop'
[INFO] [1737159320.666594465] [create3_repub]: Remapping robot service '_do_not_use/reset_pose' as '/reset_pose' with type 'irobot_create_msgs/srv/ResetP
ose'
[INFO] [1737159320.674676920] [create3_repub]: Remapping robot service '_do_not_use/robot_power' as '/robot_power' with type 'irobot_create_msgs/srv/Robo
tPower'
[INFO] [1737159320.681820744] [create3_repub]: Found 9 entities for robot_actions
[INFO] [1737159320.681883466] [create3_repub]: Remapping robot action '_do_not_use/audio_note_sequence' as '/audio_note_sequence' with type 'irobot_creat
e_msgs/action/AudioNoteSequence'
[INFO] [1737159320.712291283] [create3_repub]: Remapping robot action '_do_not_use/dock' as '/dock' with type 'irobot_create_msgs/action/Dock'
[INFO] [1737159320.749431128] [create3_repub]: Remapping robot action '_do_not_use/drive_arc' as '/drive_arc' with type 'irobot_create_msgs/action/DriveA
rc'
[INFO] [1737159320.772398990] [create3_repub]: Remapping robot action '_do_not_use/drive_distance' as '/drive_distance' with type 'irobot_create_msgs/act
ion/DriveDistance'
[INFO] [1737159320.794375500] [create3_repub]: Remapping robot action '_do_not_use/led_animation' as '/led_animation' with type 'irobot_create_msgs/actio
n/LedAnimation'
[INFO] [1737159320.818382531] [create3_repub]: Remapping robot action '_do_not_use/navigate_to_position' as '/navigate_to_position' with type 'irobot_cre
ate_msgs/action/NavigateToPosition'
[INFO] [1737159320.845412307] [create3_repub]: Remapping robot action '_do_not_use/rotate_angle' as '/rotate_angle' with type 'irobot_create_msgs/action/
RotateAngle'
[INFO] [1737159320.872132934] [create3_repub]: Remapping robot action '_do_not_use/undock' as '/undock' with type 'irobot_create_msgs/action/Undock'
[INFO] [1737159320.902992714] [create3_repub]: Remapping robot action '_do_not_use/wall_follow' as '/wall_follow' with type 'irobot_create_msgs/action/Wa
llFollow'
[INFO] [1737159320.931573640] [create3_repub]: Ready to go!
[INFO] [1737159328.688724706] [rclcpp]: signal_handler(signum=2)

look at ros2 node info for the create3 repub node to investigate what subscriptions / publishers it has running

Yes it has all the Subs/Pubs expected

Q: (isn't it supposed to subscribe to the /_do_not_use/battery_state ...)?

look and see if there are ... subscribers on the topics it is publishing.

Yes, but the republisher does not show it is subscribed to /_do_no_use/battery_state generated by the Create3...

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 topic info /battery_state --verbose
Type: sensor_msgs/msg/BatteryState

Publisher count: 1

Node name: create3_repub
Node namespace: /
Topic type: sensor_msgs/msg/BatteryState
Topic type hash: RIHS01_4bee5dfce981c98faa6828b868307a0a73f992ed0789f374ee96c8f840e69741
Endpoint type: PUBLISHER
GID: 01.0f.8b.89.e9.04.fb.d6.00.00.00.00.00.00.14.03
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: TRANSIENT_LOCAL
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 2

Node name: wali_node
Node namespace: /
Topic type: sensor_msgs/msg/BatteryState
Topic type hash: RIHS01_4bee5dfce981c98faa6828b868307a0a73f992ed0789f374ee96c8f840e69741
Endpoint type: SUBSCRIPTION
GID: 01.0f.8b.89.b9.05.0f.5d.00.00.00.00.00.00.13.04
QoS profile:
  Reliability: BEST_EFFORT
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Node name: turtlebot4_node
Node namespace: /
Topic type: sensor_msgs/msg/BatteryState
Topic type hash: RIHS01_4bee5dfce981c98faa6828b868307a0a73f992ed0789f374ee96c8f840e69741
Endpoint type: SUBSCRIPTION
GID: 01.0f.8b.89.e8.04.2e.42.00.00.00.00.00.00.14.04
QoS profile:
  Reliability: BEST_EFFORT
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

These are the publishers requested by the repub param file: (battery_state is in the list)

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 param get /create3_repub robot_publishers
String values are: ['battery_state', 'sensor_msgs/msg/BatteryState', 'dock_status', 'irobot_create_msgs/msg/DockStatus', 'imu', 'sensor_msgs/msg/Imu', 'interface_buttons', 'irobot_create_msgs/msg/InterfaceButtons', 'odom', 'nav_msgs/msg/Odometry', 'stop_status', 'irobot_create_msgs/msg/StopStatus', 'tf', 'tf2_msgs/msg/TFMessage', 'tf_static', 'tf2_msgs/msg/TFMessage', 'wheel_status', 'irobot_create_msgs/msg/WheelStatus']

[slowrunner]

Did another off dock shutdown, then place on dock restart.

Was looking through the Create3 boot log and saw it received an undock action from my wali_node on the RPi - that had to mean the repub started working.

MAGIC! Repub is working again, my robot TB5-WaLI is alive and well again.

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ cmds/echo_battery_state.sh 

*** ECHO BATTERY STATE
Mon Sep 22 14:03:42 EDT 2025
ros2 topic echo --once --flow-style -l 1 --qos-reliability best_effort --qos-durability volatile /battery_state
header:
  stamp:
    sec: 1758564226
    nanosec: 944514756
  frame_id: ''
voltage: 14.630999565124512
temperature: 38.04999923706055
current: -0.8190000057220459
charge: 0.3840000033378601
capacity: 1.125
design_capacity: 1.125
percentage: 0.3400000035762787
power_supply_status: 0
power_supply_health: 0
power_supply_technology: 0
present: true
cell_voltage: []
cell_temperature: []
location: ''
serial_number: ''
---

Percentage: 0.3400000035762787
---