Turtlebot 4 simulation ignores publishing to cmd_vel.

[dartik24]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

I do not know

OS

Windows / MAC

Built from source or installed?

Installed

Package version

N/A

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

When running teleop keyboard or utilizing on screen gazebo simulation controls the expected behavior is for the robot to move accordingly.

Actual behaviour

The above error pops up whenever publishing to cmd_vel is attempted an the robot briefly stutters after being undocked but does not move.

Error messages

[motion_control-35] [WARN] [1720543988.314924202] [motion_control]: Ignoring Velocities command while an autonomous behavior is running!

To Reproduce

Launch the simulation via ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=true nav2:=true rviz:=true
command then press the play button and set the robot into undocked mode. Following this try to move the robot using the build in control panel.

Other notes

No response

[smatarCPR]

Hello @dartik24
Thank you for reaching out on the Turtlebot 4 Githu. I am very sorry to hear that you are having issues with one of our toolkits. From the details provided it appears that the simulated Turtlebot is choosing to ignore teleop commands, due to the autonomy running (you have launched the simulator with slam and nav2 enabled). If you attempt to launch the simulator, with only RVIZ running, are you able to control the Turtlebot using the control panel?

Let me know how this recommendation works for you. Looking forward to hearing from you soon.
Best Regards,
Saif