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ROBOTIS-GIT / ros2arduino

This library helps the Arduino board communicate with the ROS2 using XRCE-DDS.
Apache License 2.0
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Agent does not recognize #55

Open kakank4444 opened 3 years ago

kakank4444 commented 3 years ago

I want to use ros2arduino I confirmed the current version of ros2

$ apt-cache show ros-dashing-desktop

Package: ros-dashing-desktop
Version: 0.7.4-1bionic.20201024.022440
Architecture: amd64

I noticed that it doesn't match the recommended version

I don't know some patches, so I want to install "Dashing Diademata Patch 6", but I don't know the procedure. Is the wget URL changed in the https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/

kakank4444 commented 3 years ago

Hello @OpusK

Successful installation of Patch 6 from previous post

Although the node is recognized I don't recognize the topic.

$ ros2 node list
/ros2arduino_pub_node
$ ros2 topic list
/parameter_events
/rosout

ArduinoIDE: 1.8.14 Hard: Esp32 Devkitc OS: Ubuntu18.04 ROS2: Dashing Diademata Patch6

ROS2 built from source code Basically installed according to the following

ros2arduino ROS2 Micro-XRCE-DDS Agent
0.2.1 Dashing Diademata Patch6 1.3.0 
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
$ cd Micro-XRCE-DDS-Agent && git checkout v1.3.0
$ mkdir build && cd build
$ source /opt/ros/dashing/setup.bash # to share libraries with ros2
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig /usr/local/lib/

but

Source /opt/ros/dashing/setup.bash

To

Source "ros2 install target"/install/setup.bash

Changed to The source code uses the sample "publisher" as it is.

Paste the log below. Isn't topic generation going well?

sudo MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 115200 -v 6
Press CTRL+C to exit
[1606963842.553090] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1606963842.553489] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1606963852.467867] info     | Root.cpp           | create_client            | create                 | client_key: 0xAABBCCDD, session_id: 0x81
[1606963852.467990] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x2864434397, address: 0
[1606963852.468228] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.472576] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.472690] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.472819] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.478380] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.478465] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.478552] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.488433] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.488576] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.488676] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.506547] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.506670] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.506773] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.540531] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.540655] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.540736] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.606455] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.606563] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.606629] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.712139] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.712239] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.712324] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.779441] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 108, data: 
0000: 81 80 00 00 01 05 64 00 00 0A 00 11 01 02 00 00 55 00 00 00 3C 64 64 73 3E 3C 70 61 72 74 69 63
0020: 69 70 61 6E 74 3E 3C 72 74 70 73 3E 3C 6E 61 6D 65 3E 72 6F 73 32 61 72 64 75 69 6E 6F 5F 70 75
0040: 62 5F 6E 6F 64 65 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63 69 70 61 6E
0060: 74 3E 3C 2F 64 64 73 3E 00 00 00 00
[1606963852.789024] debug    | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xAABBCCDD, participant_id: 0x001(1)
[1606963852.789325] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 11 00 00
[1606963852.789892] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1606963852.794354] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1606963852.794555] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1606963852.795421] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1606963852.800501] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 81 80 01 00 01 05 0F 00 00 0B 00 13 03 02 00 00 01 00 00 00 00 00 11 00
[1606963852.800808] debug    | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAABBCCDD, publisher_id: 0x001(3), participant_id: 0x001(1)
[1606963852.800895] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 13 00 00
[1606963852.800937] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1606963852.810419] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1606963852.905383] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 81 80 02 00 01 05 0F 00 00 0C 00 14 04 02 00 00 01 00 00 00 00 00 11 00
[1606963852.905568] debug    | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAABBCCDD, subscriber_id: 0x001(4), participant_id: 0x001(1)
[1606963852.905636] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 14 00 00
[1606963852.905660] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1606963852.960983] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80
[1606963852.964390] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80
[1606963852.964528] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1606963853.068177] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 01 80
[1606963853.068297] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 14 00 00
[1606963853.076490] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1606963853.142427] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 120, data: 
0000: 81 80 03 00 01 03 6D 00 00 0D 00 52 02 02 00 00 5F 00 00 00 3C 64 64 73 3E 3C 74 6F 70 69 63 3E
0020: 3C 6E 61 6D 65 3E 53 74 72 69 6E 67 3C 2F 6E 61 6D 65 3E 3C 64 61 74 61 54 79 70 65 3E 73 74 64
0040: 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 53 74 72 69 6E 67 5F 3C 2F 64 61 74 61 54
0060: 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 64 73 3E 00 00 11 00 00 00
[1606963853.142744] debug    | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAABBCCDD, topic_id: 0x005(2), participant_id: 0x001(1)
[1606963853.142816] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 52 00 00
[1606963853.142844] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1606963853.161078] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 03 00 03 00 80
[1606963853.164462] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 03 00 03 00 80
[1606963853.164602] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1606963853.268186] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 01 80
[1606963853.268328] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 52 00 00
[1606963853.276474] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1606963853.350381] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 176, data: 
0000: 81 80 04 00 01 05 A7 00 00 0E 00 15 05 02 00 00 99 00 00 00 3C 64 64 73 3E 3C 64 61 74 61 5F 77
0020: 72 69 74 65 72 3E 3C 74 6F 70 69 63 3E 3C 6B 69 6E 64 3E 4E 4F 5F 4B 45 59 3C 2F 6B 69 6E 64 3E
0040: 3C 6E 61 6D 65 3E 72 74 2F 61 72 64 75 69 6E 6F 5F 63 68 61 74 74 65 72 3C 2F 6E 61 6D 65 3E 3C
0060: 64 61 74 61 54 79 70 65 3E 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 53 74
0080: 72 69 6E 67 5F 3C 2F 64 61 74 61 54 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 61 74 61 5F 77
00A0: 72 69 74 65 72 3E 3C 2F 64 64 73 3E 00 00 13 00
[*** LOG ERROR ***] [2020-12-03 11:50:53] [] argument index out of range
[1606963853.350796] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 04 00 05 01 06 00 00 0E 00 15 80 00
[1606963853.350821] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1606963853.351433] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 04 00 04 00 80
[1606963853.351549] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1606963853.361250] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 04 00 04 00 80
[1606963853.364515] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1606963853.365390] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
ROBOTIS-Will commented 3 years ago

Hi @kakank4444 Looks like the publisher has not been successfully created, and therefore, causing the argument index error. Although we have somewhat developed package to run ROS2 on Arduino, recently eProsima(Fast RTPS developer) is putting a lot of effort on supporting ROS2 on embedded boards including Arduino boards. https://github.com/micro-ROS/micro_ros_arduino I'd recommend try their most up to date package instead. Thank you.

kakank4444 commented 3 years ago

@ROBOTIS-Will Thanks, if this problem doesn't go away I'll give it a try.

@OpusK I would like to use "ros2arduino" if possible, so please let me know. Is it related to the version of FastRTPS that Publisher can't generate?

robertkovax commented 1 year ago

I'm having similar issue with my Arduino RP2040 Connect and Nicla Vision boards. Node is listed but the topic is not appearing. Any ideas? log: [ LOG ERROR #0001 ] [2023-02-15 16:08:02] [] {argument not found}

lagessiehcs commented 4 months ago

Hello @OpusK

Successful installation of Patch 6 from previous post

Although the node is recognized I don't recognize the topic.

$ ros2 node list
/ros2arduino_pub_node
$ ros2 topic list
/parameter_events
/rosout

ArduinoIDE: 1.8.14 Hard: Esp32 Devkitc OS: Ubuntu18.04 ROS2: Dashing Diademata Patch6

ROS2 built from source code Basically installed according to the following

ros2arduino ROS2 Micro-XRCE-DDS Agent 0.2.1 Dashing Diademata Patch6 1.3.0

$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
$ cd Micro-XRCE-DDS-Agent && git checkout v1.3.0
$ mkdir build && cd build
$ source /opt/ros/dashing/setup.bash # to share libraries with ros2
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig /usr/local/lib/

but

Source /opt/ros/dashing/setup.bash

To

Source "ros2 install target"/install/setup.bash

Changed to The source code uses the sample "publisher" as it is.

Paste the log below. Isn't topic generation going well?

sudo MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 115200 -v 6
Press CTRL+C to exit
[1606963842.553090] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1606963842.553489] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1606963852.467867] info     | Root.cpp           | create_client            | create                 | client_key: 0xAABBCCDD, session_id: 0x81
[1606963852.467990] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x2864434397, address: 0
[1606963852.468228] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.472576] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.472690] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.472819] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.478380] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.478465] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.478552] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.488433] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.488576] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.488676] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.506547] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.506670] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.506773] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.540531] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.540655] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.540736] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.606455] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.606563] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.606629] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.712139] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 FC 07
[1606963852.712239] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 0
[1606963852.712324] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1606963852.779441] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 108, data: 
0000: 81 80 00 00 01 05 64 00 00 0A 00 11 01 02 00 00 55 00 00 00 3C 64 64 73 3E 3C 70 61 72 74 69 63
0020: 69 70 61 6E 74 3E 3C 72 74 70 73 3E 3C 6E 61 6D 65 3E 72 6F 73 32 61 72 64 75 69 6E 6F 5F 70 75
0040: 62 5F 6E 6F 64 65 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63 69 70 61 6E
0060: 74 3E 3C 2F 64 64 73 3E 00 00 00 00
[1606963852.789024] debug    | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xAABBCCDD, participant_id: 0x001(1)
[1606963852.789325] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 11 00 00
[1606963852.789892] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1606963852.794354] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1606963852.794555] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1606963852.795421] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1606963852.800501] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 81 80 01 00 01 05 0F 00 00 0B 00 13 03 02 00 00 01 00 00 00 00 00 11 00
[1606963852.800808] debug    | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAABBCCDD, publisher_id: 0x001(3), participant_id: 0x001(1)
[1606963852.800895] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 13 00 00
[1606963852.800937] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1606963852.810419] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1606963852.905383] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 81 80 02 00 01 05 0F 00 00 0C 00 14 04 02 00 00 01 00 00 00 00 00 11 00
[1606963852.905568] debug    | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAABBCCDD, subscriber_id: 0x001(4), participant_id: 0x001(1)
[1606963852.905636] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 14 00 00
[1606963852.905660] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1606963852.960983] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80
[1606963852.964390] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80
[1606963852.964528] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1606963853.068177] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 01 80
[1606963853.068297] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 14 00 00
[1606963853.076490] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1606963853.142427] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 120, data: 
0000: 81 80 03 00 01 03 6D 00 00 0D 00 52 02 02 00 00 5F 00 00 00 3C 64 64 73 3E 3C 74 6F 70 69 63 3E
0020: 3C 6E 61 6D 65 3E 53 74 72 69 6E 67 3C 2F 6E 61 6D 65 3E 3C 64 61 74 61 54 79 70 65 3E 73 74 64
0040: 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 53 74 72 69 6E 67 5F 3C 2F 64 61 74 61 54
0060: 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 64 73 3E 00 00 11 00 00 00
[1606963853.142744] debug    | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAABBCCDD, topic_id: 0x005(2), participant_id: 0x001(1)
[1606963853.142816] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 52 00 00
[1606963853.142844] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1606963853.161078] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 03 00 03 00 80
[1606963853.164462] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 03 00 03 00 80
[1606963853.164602] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1606963853.268186] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 01 80
[1606963853.268328] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 52 00 00
[1606963853.276474] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1606963853.350381] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 176, data: 
0000: 81 80 04 00 01 05 A7 00 00 0E 00 15 05 02 00 00 99 00 00 00 3C 64 64 73 3E 3C 64 61 74 61 5F 77
0020: 72 69 74 65 72 3E 3C 74 6F 70 69 63 3E 3C 6B 69 6E 64 3E 4E 4F 5F 4B 45 59 3C 2F 6B 69 6E 64 3E
0040: 3C 6E 61 6D 65 3E 72 74 2F 61 72 64 75 69 6E 6F 5F 63 68 61 74 74 65 72 3C 2F 6E 61 6D 65 3E 3C
0060: 64 61 74 61 54 79 70 65 3E 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 53 74
0080: 72 69 6E 67 5F 3C 2F 64 61 74 61 54 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 61 74 61 5F 77
00A0: 72 69 74 65 72 3E 3C 2F 64 64 73 3E 00 00 13 00
[*** LOG ERROR ***] [2020-12-03 11:50:53] [] argument index out of range
[1606963853.350796] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 04 00 05 01 06 00 00 0E 00 15 80 00
[1606963853.350821] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1606963853.351433] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 04 00 04 00 80
[1606963853.351549] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1606963853.361250] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 04 00 04 00 80
[1606963853.364515] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1606963853.365390] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80

How did you install Patch6?