It seems that when the password was changed, it was not performed correctly for system-wide change only allowing access via the terminal but not for GUI.
I would advise taking the issue to the Ubuntu forums as we are unfamiliar with this issue. However, for resolution access to GUI env is not required.
I called the ros2 service call you told me to do, but now that there’s no display to connect to it wont launch rviz.
I’ll check on the ubuntu forums if they have any idea, and will report back when i can finally log in to the desktop environment again to check rviz.
If you are connected via ethernet then in another PC you can run rviz from there.
yeah I tried setting up the ros / multi computer setup on my laptop instead, but for some reason i couldn’t connect to the husky, I was connected through wifi though, we’ve set up the access point of the husky to forward to ethernet, so I assumed it would’ve just worked.
I managed to just run sudo sharex from the terminal which got me into the GUI again, and when running rviz with ros2 launch hsky_viz view_robot.launch.py, it does not rotate on it’s own spot anymore like before in the video, so I guess we’re a step closer to getting a proper map? 
In ROS2 it already has a multimachine setup. Please note that certain routers allow ROS2 communications and some don’t, for those that don’t work require the network administrators to configure the router to make it work.
Please use a direct ethernet connection to the Husky.
Please see over 2 minutes if the husky is moving or not in orientation in the rviz2.
It seems to not be moving, and the map that I made seems pretty accurate too, no weird rotating glitches like before.
Now when I try to save the map using ros2 run nav2_map_server map_saver_cli -f /home/administrator/ros2_ws/src/mybotshop/hsky_nav2/maps/hms, it returns failed to spin map subscription, destroying, process exited with failure 1.
Anything i’m doing wrong in this case?
I’m connecting directly to the wifi access point that we configured through fixposition, shouldn’t that be able to work?
This command has to be run on the robot terminal and not on your local PC. Subscription failure usually occurs when it is not in the same computer. Also try running the command again but restarting SLAM before you use it.
I ran the command on the robot terminal though.
Please restart SLAM and run the command again, sometimes the topics are not immediately detected in ROS2.
I’m sorry, feeling very stupid, but can I just restart SLAM through sudo service clearpath-robot restart?
edit:
because I did that, and ran the command again, but resulted in the same error.
No issue, to restart SLAM you just have to kill the launch file and then restart it, so in the terminal where you have launch
ros2 launch hsky_nav2 slam.launch.py
Press ctrl+c to stop it and the relaunch and remap the area. Once the area has been mapped then run the save command:
ros2 run nav2_map_server map_saver_cli -f /home/administrator/ros2_ws/src/mybotshop/hsky_nav2/maps/custom_map
Try running this command twice incase it does not pick it up the first time.
For now don’t change the map name otherwise you would have to rebuild the repository and change the map_navi.launch.py to the new map name.
ah, right, the terminal itself, fair enough, makes sense, i understand now.
Same issue though, it’s not saving the map, even after remapping and trying to run twice.
Uploading a screenshot now, stand by.
edit:
The file path in the command is wrong, please run this command:
ros2 run nav2_map_server map_saver_cli -f /home/administrator/ros2_ws/src/mybotshop/hsky_nav2/maps/custom_map
derp. should’ve caught that, my apologies.
The map has been saved succesfully!
So I’m stubborn;
Could you guide me in trying to run RViz and send commands to the robot on the offboard computer over wifi?
I can succesfully ssh into husky pc from my laptop, I now just need to start RViz, to which I get told that there’s no display connected, which makes sense from the terminal i suppose;
ros2 run clearpath_generator_common generate_bash -s ~/clearpath (after copying the a200.yaml to the offboard computer), I get hit with;Is there some youtube tutorial i can follow in order to set up the connection properly, and to get my saved custom_map to show in Rviz?
If I’m getting bothersome, please let me know 
Unfortunately, there are no videos available at the moment.
If you want to run RViz2 on your PC. Then the procedure is simple.
For other users this is applicable for Husky’s provided by us.
sudo apt-get install ros-humble-clearpath*ros2 launch hsky_viz view_robot.launch.py (Be sure to first try with LAN connected to the PC directly without a switch or router in between then try with the WiFi )so I cloned the folder, installed the dependencies and packages, and if im correct this is the right way to source the bash file right?
Thanks for the help so far!
Ensure you have ubuntu 22 and ROS2 Humble installed
Remove build install and log folder from in your PC ros2_ws
rm -rf build install log
Install dependencies
cd ros2_ws/src/mybotshop
./ros2_dependencies.sh
Build workspace
cd
cd ros2_ws
colcon build --symlink-install
source install/setup.bash
Should now build without errors
Yes try with another PC the topics should show automatically once connected
Cheers for the detailed information Sohail.
However,
As I still don’t get the whole topic list like this;
RViz does start now though, so we’re a step closer!
Dear @kgalama,
Are you building the packages with release flag? Ouster usually requires release flag to build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Regardless, you can put COLCON_IGNORE on the ouster package as it is not needed for visualization and so is the case for most of the other third-party packages as well!