Create 3 - can't see anything in topic list

[gr0g]

Greets,

Just got my Create 3 (was so excited lol) - and simply can't seem to get ros2 topic list to work!

I've been trying various ROS2 versions (galactic, humble, iron) and different DDS and I keep getting that blank topic list!

Setup details:

Appended to my ~/.bashrc:

source /opt/ros/humble/setup.bash
source /root/create3_ws/install/local_setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI="/cyclonedds.xml"

I put this in the file e.g. /cyclonedds.xml

<CycloneDDS>
        <Domain Id="0">
                <General>
                        <Interfaces>
                                <NetworkInterface name="eth0" />
                        </Interfaces>
                        <AllowMulticast>false</AllowMulticast>
                        <EnableMulticastLoopback>true</EnableMulticastLoopback>
                </General>
                <Discovery>
                        <ParticipantIndex>0</ParticipantIndex>
                        <Peers>
                                <Peer Address="192.168.86.133"/>
                                <Peer Address="192.168.86.133:7410"/>
                        </Peers>
                </Discovery>
        </Domain>
</CycloneDDS>

Sanity check:

• The robot's IP on my home network (via DHCP) is: 192.168.86.133
• I'm at home using Google wifi access point (no multicast support in them afaik)
• Verified that the docker container in in Network mode: bridge
• I can reach the Robot through ping (ping -I eth0 192.168.86.133)
• I indicated the container interface I can reach the robot through in the DDS XML (eth0 in the container)
• When I point to the bot IP (192.168.86.133), I can access its web interface / logs / etc..
  ---- It's running H.2.6 (Humble) and RMW_IMPLEMENTATION with Domain ID = 0 and empty namespace

Output of ros2 topic list doesn't show the iRobot / remains:

$ ros2 topic list --spin-time 10 -v
Published topics:

• /parameter_events [rcl_interfaces/msg/ParameterEvent] 1 publisher
• /rosout [rcl_interfaces/msg/Log] 1 publisher

Subscribed topics:

Tips along the way:

• unset the CYCLONEDDS_URI env variable if need be, stop / start the ros2 daemon with -d param to stop any config loading issues.. e.g. ros2 daemon stop; ros2 daemon start -d

Errors in Robot log file (in case relevant)

Dec 29 19:17:38 wobbly daemon.err network[1477]: [ERROR] (src/aos_misc.c:754 errno:No such file or directory) Failed to stat file /opt/irobot/persistent/opt/irobot/data/bbk/user_wpa_supplicant.conf
Dec 29 19:17:38 wobbly daemon.err network[1477]: [ERROR] (src/aos_misc.c:801 errno:No such file or directory) Failed to open file: /opt/irobot/persistent/opt/irobot/data/bbk/user_wpa_supplicant.conf
Dec 29 19:17:44 wobbly daemon.err network[1477]: [ERROR] (src/aos_kvs_helper.c:51 errno:No such file or directory) Failed to stat file robot.disc_reconnect_sleep_sec
Dec 29 19:17:44 wobbly daemon.err network[1477]: [ERROR] (src/kvs_json.c:21 errno:No such file or directory) Failed to retrieve key "robot.disc_reconnect_sleep_sec"
Dec 29 19:17:44 wobbly daemon.err network[1477]: [ERROR] (src/aos_kvs_helper.c:51 errno:No such file or directory) Failed to stat file network.watchdog_interval_min
Dec 29 19:17:44 wobbly daemon.err network[1477]: [ERROR] (src/kvs_json.c:21 errno:No such file or directory) Failed to retrieve key "network.watchdog_interval_min"
Dec 29 19:17:44 wobbly daemon.err network[1477]: [ERROR] (src/aos_misc.c:86 errno:No such file or directory)  MODULE : network_manager CMD (sudo network_dhcp_arp_control.sh disable) failed with status = 1, ret = 256
Dec 29 19:17:49 wobbly daemon.err network[1477]: [ERROR] (src/mqtt_client.c:785 errno:Resource temporarily unavailable) firr_transfer failed
Dec 29 19:17:49 wobbly daemon.err network[1477]: [ERROR] (src/main.c:203 errno:Resource temporarily unavailable) Error publishing sta:0 FIRR request.
Dec 29 19:18:04 wobbly daemon.err network[1477]: [ERROR] (src/aos_net.c:449 errno:Address not available) route does not belong to main routing table
Dec 29 19:18:04 wobbly daemon.err network[1477]: [ERROR] (src/aos_net.c:249 errno:Address not available) aos_net_parse_routes failed
Dec 29 19:18:04 wobbly daemon.err network[1477]: [ERROR] (src/aos_net.c:449 errno:Address not available) route does not belong to main routing table
Dec 29 19:18:04 wobbly daemon.err network[1477]: [ERROR] (src/aos_net.c:249 errno:Address not available) aos_net_parse_routes failed
Dec 29 19:18:07 wobbly daemon.err network[1477]: [ERROR] (src/mqtt_client.c:785) firr_transfer failed
Dec 29 19:18:07 wobbly daemon.err network[1477]: [ERROR] (src/discovery.c:407) falied to get cap from tsprime

Any help / guidance appreciated

Thank you