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Troubleshooting

Common ROS 2 Issues​

Package Not Found​

Problem: ros2 run package_name executable returns "Package not found" Solution:

  1. Source ROS 2 setup: 
    source /opt/ros/humble/setup.bash
  2. Source your workspace: 
    cd ~/ros2_ws
    source install/setup.bash

DDS Communication Issues​

Problem: Nodes cannot communicate across different machines Solution:

  1. Check network configuration: 
    echo $ROS_DOMAIN_ID
  2. Set consistent domain ID: 
    export ROS_DOMAIN_ID=42

Permission Errors​

Problem: Cannot access serial devices or GPUs Solution:

sudo usermod -a -G dialout $USER
sudo usermod -a -G video $USER
# Log out and back in for changes to take effect

Isaac Sim Issues​

NVIDIA Driver Conflicts​

Problem: Isaac Sim fails to launch with CUDA errors Solution:

  1. Check driver version: 
    nvidia-smi
  2. Update to recommended version: 
    sudo apt install nvidia-driver-535
    sudo reboot

CUDA Version Mismatch​

Problem: "CUDA version mismatch" error Solution:

  1. Check CUDA version: 
    nvcc --version
  2. Install compatible Isaac Sim version or update CUDA

GPU Passthrough in Docker​

Problem: GPU not accessible in Docker container Solution:

  1. Install nvidia-container-toolkit: 
    sudo apt install nvidia-container-toolkit
    sudo systemctl restart docker
  2. Run with GPU support: 
    docker run --gpus all --rm robobook-ros2-humble

Docusaurus Issues​

Build Errors​

Problem: npm run build fails with memory errors Solution:

  1. Increase Node.js memory limit: 
    export NODE_OPTIONS="--max-old-space-size=4096"
    npm run build

Local Development Server Issues​

Problem: npm start hangs or fails Solution:

  1. Clear cache: 
    npm run clear
  2. Reinstall dependencies: 
    rm -rf node_modules package-lock.json
    npm install
    npm start

Docker Issues​

Container Build Failures​

Problem: docker build fails with permission errors Solution:

  1. Check Docker permissions: 
    sudo usermod -aG docker $USER
  2. Log out and log back in

Image Pull Failures​

Problem: docker pull fails with network errors Solution:

  1. Check network connection
  2. Configure Docker with proxy if needed: 
    mkdir -p ~/.docker/config.json
    # Add proxy configuration if required

Python Environment Issues​

Package Installation Failures​

Problem: pip install fails with permission errors Solution:

  1. Use virtual environment: 
    python3 -m venv robobook_env
    source robobook_env/bin/activate
    pip install package_name

Import Errors​

Problem: Python cannot import ROS 2 packages Solution:

  1. Ensure ROS 2 is sourced: 
    source /opt/ros/humble/setup.bash
    source ~/ros2_ws/install/setup.bash

Network and Connectivity​

Internet Connection Issues​

Problem: Cannot download packages or dependencies Solution:

  1. Check internet connection
  2. Configure proxy if needed: 
    export http_proxy=http://proxy.company.com:8080
    export https_proxy=http://proxy.company.com:8080

Firewall Blocking​

Problem: Cannot connect to external services Solution:

  1. Check firewall settings: 
    sudo ufw status
  2. Allow required ports: 
    sudo ufw allow 80,443,11311,11345:11347/tcp

Hardware Troubleshooting​

RealSense Camera Issues​

Problem: Camera not detected or depth data unavailable Solution:

  1. Check camera connection: 
    rs-enumerate-devices
  2. Update firmware: 
    rs-fw-update

Jetson Platform Issues​

Problem: Jetson not booting or performance issues Solution:

  1. Check power supply (5V/4A minimum)
  2. Monitor temperature: 
    sudo tegrastats
  3. Ensure proper cooling solution

Performance Optimization​

Slow Build Times​

Problem: Docusaurus build takes longer than 5 minutes Solution:

  1. Enable caching: 
    npm run build -- --cache
  2. Use faster storage (SSD vs HDD)

High Memory Usage​

Problem: System becomes unresponsive during builds Solution:

  1. Close unnecessary applications
  2. Increase swap space: 
    sudo fallocate -l 4G /swapfile
    sudo chmod 600 /swapfile
    sudo mkswap /swapfile
    sudo swapon /swapfile

Getting Help​

If you encounter issues not covered here:

  1. Check the ROS 2 Documentation
  2. Visit the NVIDIA Isaac Forum
  3. Search GitHub Issues in the RoboBook repository
  4. Create a new issue with detailed error messages and system information