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Troubleshooting

Clients fail to connect:

Ensure ROS_DISCOVERY_SERVER uses a concrete address (not 0.0.0.0).

With host networking, use 127.0.0.1:11811.
With robot as access point, use 10.42.0.1:11811
With robot as client, use ip address displayed on the on-robot display or /ip topic

Robot connected but Topics not visible

Set ROS_SUPER_CLIENT=1 in the terminal or under docker environment variables
Try running the ros2 daemon stop && ros2 daemon start command once and wait few seconds

Firewall/port issues

Confirm the server listens on 11811 and the port is open.

GUI not showing

Run xhost +local:root before docker compose up; verify /tmp/.X11-unix is mounted and DISPLAY is set.

Verify ROS graph

Inside turtlebot4-simulation, run ros2 topic list, check /map, /tf, and Nav2 nodes (planner_server, controller_server).
Ensure transforms between map, odom, and base_link are present.
Check the robot namespace