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Troubleshooting

No registration ACK​

Check the runtime topics first:

ros2 topic list | grep horus
ros2 topic echo /horus/registration_ack

If nothing appears:

  • confirm the app is connected to the bridge host
  • confirm horus_unity_bridge is running
  • confirm the SDK shell sourced ~/horus_ws/install/setup.bash

Bridge auto-start does not work​

Try the registration script from a shell where both ROS and the workspace are active:

source /opt/ros/jazzy/setup.bash
source ~/horus_ws/install/setup.bash

If you still need to debug startup, launch the bridge manually and rerun the SDK example.

Camera panel is blank​

Check:

  • the camera topic exists and is publishing the expected image type
  • the frame_id matches the real camera frame
  • image_type, minimap_image_type, and teleop_image_type match the actual ROS message content

For live systems, also check whether the example expects WebRTC for teleop or ROS-only transport.

Robot appears but does not move​

Verify the command and task topics that the example registered:

ros2 topic list | grep cmd_vel
ros2 topic list | grep goal_pose
ros2 topic list | grep waypoint_path

The SDK can register a correct robot while the paired fake runtime or live robot graph is still missing the command subscribers.

Global map or semantic layer is missing​

Check that:

  • the first DataViz instance in the batch is carrying the intended global layer
  • the required topic is publishing
  • the MR workspace has already been accepted

WSL2 networking​

If the headset cannot reach the bridge ports from WSL, use mirrored networking:

[wsl2]
networkingMode=mirrored

Then restart WSL:

wsl --shutdown