lost messages and CRC errors #47
Replies: 6 comments 3 replies
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Hello, kaiaai_telemetry_node losing messages (sent over UDP) frequently usually indicates a WiFi connection problem.
If that doesn't help, I will need to see screenshots of your PC desktop and a log of your Arduino Monitor. |
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Almost forgot, if your ROS2 can lose messages and act up if your PC is running low on compute resources. Make sure your PC is not running some other CPU/memory/network hungry software. Sometimes Windows OneDrive can be using the network a lot in the background. |
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Also, check for the low battery. |
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Hi, I can here to ask about this issue and saw this thread. We have three of these robots that we use for a workshop at our makerspace. Two of them work fine, but the third has recently started throwing these telemetry errors. It usually starts with just a few, but within a few minutes it's throwing so many that it's unusable. At the same time, the other two robots are working fine, on the same WiFi network. I brought the robots home to test and tried a different router (2.4ghz of course) and I get the same issue with just the one robot. It happens while rolling or standing still, and with two feet of the router or 20 feet away. If I move the robot to another floor of the house, it throws telemetry errors constantly (in that case, it's likely weak WiFi for sure). I tried the following:
None of these helps. Also, swapping an ESP32 from a good robot into the bad robot works fine. Swapping the ESP32 from the bad robot into a good robot throws errors. The only difference in the ESP32s seems to be the antenna placement. In the bad robot, the antenna is over the PCB. In both good robots the antenna extends over the end of the PCB. Unfortunately, the replacement ESP32s that I got also have the antennas over the PCB. I captured a log from the physical.launch.py window and the Arduino monitor window while errors are being thrown. (Attached below) Eventually the RVIZ window says: and the robot stops responding. I also attached a copy of my desktop. Any insight is appreciated. I'm running out of ideas on this robot. Win [telem-2] [INFO] [1774298430.839739880] [kaiaai_telemetry_node]: 1 message(s) lost Telem avg 24 max 28ms, LiDAR RPM 4.99, wheels RPM -22.40 22.41, battery 9.07V, RSSI -22dBm |
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Hello,
You Arduino logs look fine (no CRC errors). You've tried swapping ESP32 boards and - clearly - those with antenna-over-PCB are not good. I think you should get a good ESP32 board.
Try using a faster PC. |
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I think the PCs I'm using are fine. I run it on multiple different machines and the the other two robots work fine on all the machines. Not sure how to ensure I get a good ESP32? One of the kits came with the antenna over the PCB and the other two came with the antenna extended. If I order one from you can you ensure it is the extended antenna variety. Also, it's odd because it ran fine for months...no issues at all and this just started a week ago. Thanks, Win |
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You mentioned you have yet another ESP32 (with antenna over PCB). Does that ESP32 work well? Have you tried it? |
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I have two new ESP32 with the antenna over the PCB and they both (as well as the original ESP32) throw telemetry errors. It's perplexing because this robot worked so well. We bought it last year like Oct or Nov and it's been working without any problems. I run all three robots on two different WiFi networks and only the one robot suddenly has issues. If I can get another ESP32 with the extended antenna, I'd give that a try, although it doesn't really explain what happened. Win |
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That's odd. I've never had a problem like that. The only thing that I can think of is that your "bad" ESP32 happens to use a WiFi channel frequency that - for some reason - is busy or noisy. But it sounds unlikely because you've tried another router and other ESP32. |
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I built my Maker's Pet Mini a few weeks ago and everything was working fine. I was able to map my house and the bot was able to roam around and navigate it's way through the house. Then I left it for a couple weeks. Today I spun up the ROS2 docker again, turned on the bot. It connects to the server and I see all the micro_ros logs of it establishing a session and subscribing to topics, etc. But within a few seconds I start getting these error messages:
[telem-2] [INFO] [1751577499.110257471] [kaiaai_telemetry_node]: LDS model LDROBOT-LD14P
[telem-2] [INFO] [1751577499.928535343] [kaiaai_telemetry_node]: 1 message(s) lost
[telem-2] [INFO] [1751577506.081108409] [kaiaai_telemetry_node]: 1 message(s) lost
[telem-2] [INFO] [1751577506.081388256] [kaiaai_telemetry_node]: RESULT_CRC_ERROR
[telem-2] [INFO] [1751577506.081635951] [kaiaai_telemetry_node]: 2 message(s) lost
[telem-2] [INFO] [1751577506.081815393] [kaiaai_telemetry_node]: RESULT_CRC_ERROR
[telem-2] [INFO] [1751577510.579212093] [kaiaai_telemetry_node]: 1 message(s) lost
[telem-2] [INFO] [1751577510.579674791] [kaiaai_telemetry_node]: 1 message(s) lost
[telem-2] [INFO] [1751577515.693741070] [kaiaai_telemetry_node]: 1 message(s) lost
[telem-2] [INFO] [1751577515.693889528] [kaiaai_telemetry_node]: RESULT_CRC_ERROR
[telem-2] [INFO] [1751577520.104451422] [kaiaai_telemetry_node]: 4 message(s) lost
[telem-2] [INFO] [1751577520.104636046] [kaiaai_telemetry_node]: RESULT_CRC_ERROR
[telem-2] [INFO] [1751577520.104746140] [kaiaai_telemetry_node]: 3 message(s) lost
[telem-2] [INFO] [1751577520.104823256] [kaiaai_telemetry_node]: RESULT_CRC_ERROR
[telem-2] [INFO] [1751577521.126177683] [kaiaai_telemetry_node]: 1 message(s) lost
[telem-2] [INFO] [1751577521.126957491] [kaiaai_telemetry_node]: RESULT_CRC_ERROR
[telem-2] [INFO] [1751577521.632669935] [kaiaai_telemetry_node]: 3 message(s) lost
And when I try to run any of the ros2 commands to run the bot, rViz starts but I start getting errors in the docker bash where I ran the ros2 command about the queue being full.
Any ideas?
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