Troubleshooting

Common issues and solutions.

Connection Issues

Cannot Connect to Robot

Symptoms:

• connect() returns false

• “Connection failed” error

Solutions:

1. Check Network

   # Ping test to robot IP
   ping 192.168.1.xxx
   

2. Verify Robot ID

   • Check Robot ID in raisin_master console or raisin_gui

   • Ensure exact match

3. Check Multicast

   • Robot and client must be on same subnet

   • Verify router/switch is not blocking multicast

4. Check Firewall

   # Check firewall status on Ubuntu
   sudo ufw status
   
   # Disable if necessary
   sudo ufw disable
   

Service Timeout

Symptoms:

• setWaypoints() etc. return “service timeout”

• Service calls fail

Solutions:

1. Check Autonomy Plugin

   • Verify Autonomy plugin is loaded in raisin_master

   • Fast-LIO plugin must also be loaded (for map operations)

2. Check Connection Status

   if (!client.isConnected()) {
       std::cerr << "Not connected!" << std::endl;
   }
   

3. Increase Timeout (if needed)

   Service responses may be delayed in high-latency network environments.

Map Loading Issues

“service timeout” Instead of “Map saved.”

Cause:

• Fast-LIO plugin is not loaded

Solutions:

1. Verify Fast-LIO plugin is loaded in raisin_master

2. Check that LiDAR is working properly

3. Verify /cloud_registered topic is being published on robot

Cannot Find PCD File

Cause:

• File path is incorrect

Solutions:

1. Use Absolute Path (Recommended)

   // Use absolute path instead of relative
   client.setMap("/home/user/maps/office.pcd", ...);
   

2. Verify File Exists

   ls -la /path/to/map.pcd
   

Waypoint Issues

Robot Does Not Move

Symptoms:

• Waypoint setting succeeds but robot doesn’t move

• No path generated

Solutions:

1. Check frame Name (Most Common Cause)

   // frame from setMap's map_name must match Waypoint frame!
   client.setMap("...", 0, 0, 0, 0, "my_map");
   Waypoint("my_map", 5.0, 0.0);  // ✓ Match
   
   // Wrong example
   client.setMap("...", 0, 0, 0, 0, "my_map");
   Waypoint("map", 5.0, 0.0);     // ✗ Mismatch!
   

2. Check Localization Status

   • Verify map was loaded properly

   • Verify robot position is correctly set within the map

3. Check Autonomy Mode

   • Verify setAutonomousControl() was called

4. Check Mission Status

   auto status = client.getMissionStatus();
   std::cout << "Waypoints: " << status.waypoints.size() << std::endl;
   

Coordinates Don’t Match

Symptoms:

• Robot moves to unexpected location

• Waypoint coordinates don’t match the map

Solutions:

1. Verify Initial Position

   • Check that initial position set in setMap() matches actual robot position

   • Initial yaw (direction) must also be accurate

2. Check Coordinate System

   • Waypoint coordinates are map-based (relative to map origin)

   • Uses meters

Subscription Issues

Callback Not Being Called

Symptoms:

• subscribeOdometry() etc. callbacks don’t execute

Solutions:

1. Check Connection Status

   • Verify properly connected to robot

2. Maintain Main Loop

   // Keep main loop running to prevent program exit
   while (running) {
       std::this_thread::sleep_for(std::chrono::milliseconds(100));
   }
   

3. Verify Topic Publishing

   • Use raisin_cli to check if topic is being published

Build Issues

Cannot Find Library

Symptoms:

• Link error: “cannot find -lraisin_network”

Solutions:

1. Verify Path

   # Check if RAISIN_SDK_PATH is correct
   message(STATUS "SDK Path: ${RAISIN_SDK_PATH}")
   

2. Verify Library Exists

   ls -la /path/to/raisin_sdk_install/lib/
   

Library Load Failure at Runtime

Symptoms:

• “error while loading shared libraries”

Solutions:

# Set LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/path/to/raisin_sdk_install/lib:$LD_LIBRARY_PATH

# Or use ldconfig
sudo ldconfig /path/to/raisin_sdk_install/lib

Getting Help

If issues persist:

1. Record full error message content

2. Prepare code snippet being used

3. Check network configuration information

4. Check raisin_master console logs