Troubleshooting

The robot doesn’t show up

Home shows Only this device is visible:

  1. Same domain? Config → Network → Domain ID must match the robot’s ROS_DOMAIN_ID.

  2. Same network? The phone must be on the robot’s Wi-Fi (not mobile data, not a guest network isolated from it).

  3. Multicast blocked? Very common on office, university, guest and mesh Wi-Fi. Write the robot’s IP in Discovery peers and tap Apply and reconnect.

  4. Run Network check: it shows the phone’s IP, the peers in use and every participant it sees.

  5. Still nothing? Ask for IGMP snooping and client/AP isolation to be turned off on the router, or use a Discovery Server on both sides.

Topics appear but no data arrives

  • QoS: a Reliable subscription doesn’t get data from a Best effort publisher. In RViz displays and Echo, choose Best effort. For latched topics like /map or /robot_description, use Transient local.

  • Type unknown: the app knows ~300 common interfaces; define your own in the Buttons tab (Buttons).

  • Big messages over Wi-Fi: point clouds and raw images are heavy. Prefer compressed images and downsampled clouds.

Services or actions don’t answer

  • The robot must use Fast DDS (rmw_fastrtps_cpp). With CycloneDDS topics work but services and actions don’t.

  • The app waits up to the button’s timeout (5 s by default). Long services need a longer timeout.

RViz shows the robot without meshes

Set up the mesh server: Visualize your robot in 3D.

The robot keeps moving

It shouldn’t: releasing the joystick sends zero velocity, and STOP, losing the connection or a frozen screen stop it too. If your robot keeps moving on its last command, configure a velocity timeout on the robot (most controllers have one).