Help for debugging VxWorks error signal 11

pablogs9 commented 4 years ago

Hello, I'm using this package to build micro-ROS-Agent, the server part of micro-ROS (ROS 2 for microcontrollers). We have solved compilation issues by patching some packages and tweking the build procedure in order not to use some broken ROS 2 packages (related to https://github.com/Wind-River/vxworks7-ros2-build/issues/8).

Once we achieve running this binary inside VxWorks in a Raspberry Pi 4 it seems to run correctly until a certain point (when ROS 2 datawriter are created).

The VxWorks output is:

-> cmd   
[vxWorks *]# set env LD_LIBRARY_PATH="/sd0a/export/root/lib/"
[vxWorks *]# cd /sd0a/export/root/llvm/bin
[vxWorks *]# rtp exec -u 0x2000000 micro_ros_agent.vxe "udp4 --port 8888 -v6"
Launching process 'micro_ros_agent.vxe' …
Process 'micro_ros_agent.vxe' (process Id = 0xffff800000d66560) launched.
Press CTRL+C to exit
0xffff8000010bcbe0 (t40): RTP 0xffff800000d66560 has been deleted due to signal 11.

The complete procedure of building and setting up can be found here.

My question is: where can I find instructions to debug this signal 11 error in VxWorks BSP for RPi 4? Is there any way of having a explicit trace of the error?

PD: I'm not sure if this is offtopic for this repo issues, if so, I will close it.

Thanks!

(@FranFin @jamoralp)

razr commented 4 years ago

@pablogs9 thanks for providing patches. There are other two patches I need to apply and after that, I can build the whole project. It runs on my side without a crash as

akholodn@razilix:~/github/Wind-River/vxworks7-ros2-build$ qemu-system-x86_64 -m 512M  -kernel $WIND_SDK_HOME/bsps/itl_generic_2_0_2_1/boot/vxWorks -net nic  -net tap,ifname=tap0,script=no,downscript=no -display none -serial stdio -monitor none -append "bootline:fs(0,0)host:vxWorks h=192.168.200.254 e=192.168.200.1 u=target pw=boot o=gei0" -usb -device usb-ehci,id=ehci  -device usb-storage,drive=fat32 -drive file=fat:rw:./export/root,id=fat32,format=raw,if=none

and then

-> cmd
[vxWorks *]# set env LD_LIBRARY_PATH="/bd0a/lib"
[vxWorks *]# cd /bd0a/llvm/bin/
[vxWorks *]# rtp exec -u 0x20000 micro_ros_agent.vxe "udp4 --port 8888 -v6"
Launching process 'micro_ros_agent.vxe' ...
Process 'micro_ros_agent.vxe' (process Id = 0xffff8000005b6ed0) launched.
Press CTRL+C to exit

I'll integrate your patches later on today. As for debug you can refer to https://labs.windriver.com/downloads/wrsdk-vxworks7-docs/VxWorksSDK-ApplicationDeveloperGuide.html#run-and-debug-from-cli

pablogs9 commented 4 years ago

Hello @razr thank you very much for testing this. For me it works until a client tries to create a datawriter. In fact, I have found that the agent is able to create a participant, a topic and it crashes when creating a datawriter.

Have you tried with your current setup to connect a client to this agent?

razr commented 4 years ago

no, I haven't, could you please provide more instructions on it? Probably just extend your google doc ?

pablogs9 commented 4 years ago

For sure:

git clone https://github.com/eProsima/Micro-XRCE-DDS-Client
cd Micro-XRCE-DDS-Client
mkdir build; cd build;
cmake .. -DUCLIENT_BUILD_EXAMPLES=ON  
make -j 12
./examples/PublishHelloWorld/PublishHelloWorldClient [VxWorks machine IP] 8888

You also have them in the google doc.

pablogs9 commented 4 years ago

Regarding the QEMU command:

sudo qemu-system-x86_64 -m 512M  -kernel /home/pgarrido/new_vxworks/wrsdk-vxworks7-qemu/bsps/itl_generic_2_0_2_1/boot/vxWorks -net nic  -net tap,ifname=tap0,script=no,downscript=no -display none -serial stdio -monitor none -append "bootline:fs(0,0)host:vxWorks h=192.168.200.254 e=192.168.200.1 u=target pw=boot o=gei0" -usb -device usb-ehci,id=ehci  -device usb-storage,drive=fat32 -drive file=fat:rw:./export/root,id=fat32,format=raw,if=none

should it be enough to change these h and e options in order to have this emulated device available on my LAN? I guess that I'm missing something.

razr commented 4 years ago

I create a tap0 interface before I run QEMU

sudo apt-get install uml-utilities
sudo tunctl -u $USER -t tap0
sudo ifconfig tap0 192.168.200.254 up

then you can telnet to the QEMU target

telnet 192.168.200.1

or for the client

./examples/PublishHelloWorld/PublishHelloWorldClient 192.168.200.1 8888

I'm using 20.04 Ubuntu as a host machine

pablogs9 commented 3 years ago

Hello @razr, I have achieved the QEMU setup with the network, I also have successfully connected to the emulated using ẁrdbg following the instructions from this link:

(wrdbg) target connect vxworks7:TCP:192.168.200.1:1534 -kernel /wrsdk/bsps/itl_generic_2_0_2_1/boot/vxWorks 
Connecting...
Connected to TCP:192.168.200.1:1534
(wrdbg) file /work/export/root/llvm/bin/micro_ros_agent.vxe
Reading symbols from /work/export/root/llvm/bin/micro_ros_agent.vxe...done
[New Thread 1]
[New inferior 2 (0xffff80000063aae0)]
Switching to inferior 2 [0xffff80000063aae0] (micro_ros_agent.vxe)

But the WRDBG Reference Guide referred in this page is down. Is possible to provide a comprehensive guide for using wrdbg?

Thank you very much.

razr commented 3 years ago

@pablogs9, Thanks for looking into it. it is rather in the SDK directory under $WIND_TOOLS/lib/python/doc/html/wrdbg/wrdbg.html

Meanwhile, I have merged your changes and applied missing patches.

razr commented 3 years ago

@pablogs9, I have enabled logging, now it prints something like

[vxWorks *]# rtp exec -u 0x20000 micro_ros_agent.vxe "udp4 --port 8888 -v6"
Launching process 'micro_ros_agent.vxe' ...
Process 'micro_ros_agent.vxe' (process Id = 0xffff8000005bc1d0) launched.
Press CTRL+C to exit
[1602106537.450000] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1602106537.483333] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1602106634.216666] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x00000000, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA AA BB BB 81 00 FC 01
[1602106634.233333] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x00000000, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA AA BB BB 81 00 FC 01
[1602106634.300000] info     | Root.cpp           | create_client            | create                 | client_key: 0xAAAABBBB, session_id: 0x81
[1602106634.316666] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x2863315899, address: 192.168.200.254:45190
[1602106634.316666] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA AA BB BB 81 00 FC 01
[1602106634.333333] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAAAABBBB, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1602106634.350000] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2863315899, address: 192.168.200.254:45190
[1602106634.350000] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 388, data: 
0000: 81 80 00 00 01 05 68 00 00 0A 00 11 01 02 00 00 59 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 64 65 66 61 75 6C 74 5F 78 72 63 65 5F 70
0040: 61 72 74 69 63 69 70 61 6E 74 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63
0060: 69 70 61 6E 74 3E 3C 2F 64 64 73 3E 00 00 00 00 01 05 64 00 00 0B 00 12 02 02 00 00 56 00 00 00
0080: 3C 64 64 73 3E 3C 74 6F 70 69 63 3E 3C 6E 61 6D 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 54 6F 70 69
00A0: 63 3C 2F 6E 61 6D 65 3E 3C 64 61 74 61 54 79 70 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 3C 2F 64 61
00C0: 74 61 54 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 64 73 3E 00 00 11 01 05 0F 00 00 0C 00 13
00E0: 03 02 00 00 01 00 00 00 00 00 11 00 01 05 92 00 00 0D 00 15 05 02 00 00 84 00 00 00 3C 64 64 73
0100: 3E 3C 64 61 74 61 5F 77 72 69 74 65 72 3E 3C 74 6F 70 69 63 3E 3C 6B 69 6E 64 3E 4E 4F 5F 4B 45
0120: 59 3C 2F 6B 69 6E 64 3E 3C 6E 61 6D 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 54 6F 70 69 63 3C 2F 6E
0140: 61 6D 65 3E 3C 64 61 74 61 54 79 70 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 3C 2F 64 61 74 61 54 79
0160: 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 61 74 61 5F 77 72 69 74 65 72 3E 3C 2F 64 64 73 3E 00
0180: 00 13 00 00
[1602106634.383333] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAAAABBBB, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1602106634.383333] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2863315899, address: 192.168.200.254:45190
[1602106634.383333] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1602106634.400000] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAAAABBBB, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1602106634.500000] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1602106634.516666] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1602106634.516666] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1602106634.516666] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1602106634.516666] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1602106634.533333] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1602106634.616666] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1602106634.816666] debug    | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xAAAABBBB, participant_id: 0x001(1)
[1602106634.883333] debug    | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x001(2), participant_id: 0x001(1)
[1602106634.933333] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAAAABBBB, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 11 00 00
[1602106634.950000] debug    | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAAAABBBB, publisher_id: 0x001(3), participant_id: 0x001(1)
[1602106634.966666] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAAAABBBB, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 12 00 00
[1602106635.033333] debug    | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAAAABBBB, datawriter_id: 0x001(5), publisher_id: 0x001(3)

razr commented 3 years ago

and on the other side:

$ ./examples/PublishHelloWorld/PublishHelloWorldClient 192.168.200.1 8888 -v6
==>  24: (key: AA AA BB BB | n: 0 |  0) [CREATE CLIENT | session: 0x81 | key: AA AA BB BB ] t: 0ms 
==>  24: (key: AA AA BB BB | n: 0 |  0) [CREATE CLIENT | session: 0x81 | key: AA AA BB BB ] t: 0ms 
==>  24: (key: AA AA BB BB | n: 0 |  0) [CREATE CLIENT | session: 0x81 | key: AA AA BB BB ] t: 0ms 
<==  19: (key: AA AA BB BB | n: 0 |  0) [STATUS AGENT] t: 45ms 
==> 388: (key: AA AA BB BB | r:80 |  0) [CREATE | REPLACE | req: 0x000A | obj: 0x0011 | PARTICIPANT | xml: 89]
                                        [CREATE | REPLACE | req: 0x000B | obj: 0x0012 | TOPIC | obj: 0x0011 | xml: 86]
                                        [CREATE | REPLACE | req: 0x000C | obj: 0x0013 | PUBLISHER | obj: 0x0011 | xml: 1]
                                        [CREATE | REPLACE | req: 0x000D | obj: 0x0015 | DATAWRITER | obj: 0x0013 | xml: 132] t: 45ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 46ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 48ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 52ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 60ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 76ms 
<==  19: (key: AA AA BB BB | n: 0 |  0) [STATUS AGENT] t: 87ms 
<==  19: (key: AA AA BB BB | n: 0 |  0) [STATUS AGENT] t: 105ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 108ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 172ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 300ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 557ms 
<==  14: (key: AA AA BB BB | r:80 |  0) [STATUS | req: 0x000A | obj: 0x0011 | OK] t: 619ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [ACKNACK | stream: 0x80 | seq_num: 1 | bitmap: 0000000000000000] t: 619ms 
<==  14: (key: AA AA BB BB | r:80 |  1) [STATUS | req: 0x000B | obj: 0x0012 | OK] t: 647ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [ACKNACK | stream: 0x80 | seq_num: 2 | bitmap: 0000000000000000] t: 647ms 
==>  13: (key: AA AA BB BB | n: 0 |  0) [HEARTBEAT | stream: 0x80 | first: 0 | last: 0] t: 1069ms 
Error at create entities: participant: 0 topic: 0 publisher: 255 darawriter: 255

pablogs9 commented 3 years ago

Hello @razr, two questions:

Is the logging enabled now by default following the instructions here or I need to do something else?
This Agent and client output is the one that I expected as the session is created correctly, the DDS participant and publisher are also created but a sort of segfault appears when creating the data writer. Do you also have this error? Can you provide me some information about what part of the code is producing this faulty memory access?

Thanks a lot

razr commented 3 years ago

Hello @pablogs9,

yes logging is enabled by default https://github.com/razr/Micro-XRCE-DDS-Agent/commit/1b076d5a184d5c4650a2de6ca92b9909df86dc8b. you can do

$ cd $HOME/github/Wind-River/vxworks7-ros2-build/build/ros2/ros2_ws/src/eProsima/Micro-XRCE-DDS-Agent
$ git pull
$ cd $HOME/github/Wind-River/vxworks7-ros2-build/
$ rm build/.stamp/micro-ros.install
$ rm build/.stamp/micro-ros.build
$ rm -rf build/ros2/ros2_ws/build/microxrcedds_agent/
$ make

if you build inside the docker container, you might need to add before (CLI11 complains if it is not set)

git config --global user.email "you@example.com"
git config --global user.name "Your Name"

I do not see any segfault, the whole qemu VxWorks instance gets a reboot. I'd expect that the app will crash and create a coredump. I'll look into it later on today

pablogs9 commented 3 years ago

I do not see any segfault, the whole qemu VxWorks instance gets a reboot. I'd expect that the app will crash and create a coredump. I'll look into it later on today

That is true also for me, in QEMU it reboots and in RPi its gives the 0xffff8000010bcbe0 (t40): RTP 0xffff800000d66560 has been deleted due to signal 11.

yuzu-ogura commented 5 months ago

@pablogs9 thanks for providing patches. There are other two patches I need to apply and after that, I can build the whole project. It runs on my side without a crash as
akholodn@razilix:~/github/Wind-River/vxworks7-ros2-build$ qemu-system-x86_64 -m 512M  -kernel $WIND_SDK_HOME/bsps/itl_generic_2_0_2_1/boot/vxWorks -net nic  -net tap,ifname=tap0,script=no,downscript=no -display none -serial stdio -monitor none -append "bootline:fs(0,0)host:vxWorks h=192.168.200.254 e=192.168.200.1 u=target pw=boot o=gei0" -usb -device usb-ehci,id=ehci  -device usb-storage,drive=fat32 -drive file=fat:rw:./export/root,id=fat32,format=raw,if=none
and then
-> cmd
[vxWorks *]# set env LD_LIBRARY_PATH="/bd0a/lib"
[vxWorks *]# cd /bd0a/llvm/bin/
[vxWorks *]# rtp exec -u 0x20000 micro_ros_agent.vxe "udp4 --port 8888 -v6"
Launching process 'micro_ros_agent.vxe' ...
Process 'micro_ros_agent.vxe' (process Id = 0xffff8000005b6ed0) launched.
Press CTRL+C to exit
I'll integrate your patches later on today. As for debug you can refer to https://labs.windriver.com/downloads/wrsdk-vxworks7-docs/VxWorksSDK-ApplicationDeveloperGuide.html#run-and-debug-from-cli

hello @razr , I also occurred signal 11 error, when I execute other RTP programs.(my program), I'm eager to know how to trace the error explicitly, but the link https://labs.windriver.com/downloads/wrsdk-vxworks7-docs/VxWorksSDK-ApplicationDeveloperGuide.html#run-and-debug-from-cli is invalid.

razr commented 5 months ago

@yuzu-ogura sorry for the inconvenience, WRLabs site was done a while, now it is back again. could you please try it again.

yuzu-ogura commented 4 months ago

@yuzu-ogura sorry for the inconvenience, WRLabs site was done a while, now it is back again. could you please try it again.

Excuse me, I didn't find the guidence. I launch a rtp in QEMU(x86) and got signal 11. If wrgdb is a buildin command of VxWorks ? By the way, I guess the signal 11 occurred due to the rtp file size is so large that out of VxWorks memory, how can I enlarge the moemory of VxWorks?

cc: @danmilea

razr commented 4 months ago

[vxWorks *]# rtp exec -u 100000 xmltest

yuzu-ogura commented 4 months ago

[vxWorks *]# rtp exec -u 100000 xmltest

Thank you very much! You are so powerful! Is there any shortcuts or learning guides available for getting started with VxWorks?

razr commented 4 months ago

Thank you @yuzu-ogura for your patience. There are VxWorks man pages in the SDK under docs/vxworks-7/man

vxman rtp

you can also type

[vxWorks *]# help

[vxWorks *]# help rtp exec
rtp exec            Execute a process.
                    rtp exec [-s | -c] [-i] [-g | -a | -z] [-x | -X] [-p 
                    <priority>]
                    [-u <stacksize>] [-o <rtpOptions>] [-t <taskOptions>] [-v 
                    <level>]
                    [-e name=value] <filename> [--] [args] [&]
                    This command executes a RTP file named <filename>. The 
                    ampersand character is added at the end of the arguments to 
                    launch the process in the background. Otherwise, the process
                    is launched on the foreground and blocks the shell until the
                    user hits the unblocking key (CTRL-W by default), the 
                    interruption key (CTRL-C by default) or the process is 
                    ended.
                    The [-i] option may have to be specified if the process 
                    reads data from its standard input.
                    The [-v <level>] option sets the verbosity level. 2 levels 
                    are available. 0 turns the verbosity off, 1 displays 
                    messages on stdout during the RTP launch phase. The default 
                    value of the verbosity level is 0.
                     -c : do not stop the process initial task at creation time
                     -e : specify an environment string of the form 
                    "name1=value1,name2=value2,..."
                     -p : specify the initial task priority
                     -i : redirect process input
                     -s : stop the process initial task at creation time
                     -o : rtp creation options
                     -t : task options for the RTPs initial task
                     -u : specify the size of the process task stack
                     -g : register application global symbols
                     -a : register application local and global symbols
                     -z : register no application symbols
                     -v : verbosity level
                     -x : imitate a POSIX shell and return exit code of 
                    foreground RTP
                     -X : do not return the exit code of foreground RTP, just 
                    return 0
                     -- : mark the end of "rtp exec" options.

yuzu-ogura commented 4 months ago

Excuse me, I'm so clumsy. I met an error, could you tell me how to solve it? It can't find the libfastrtps, but I promise it is existed. like below:

razr commented 4 months ago

is it a symlink? I always dereference symlinks with -L while copying them

$ sudo cp -r -L ./output/export/deploy/* ~/tmp/mount/.

yuzu-ogura commented 4 months ago

is it a symlink? I always dereference symlinks with -L while copying them
$ sudo cp -r -L ./output/export/deploy/* ~/tmp/mount/.

Thanks @razr . Yes, it is a symlink. I followed your solution but not solved. I found the library file size is unbelievable, it up to 104MB. Maybe the file size too huge to be found?

razr commented 4 months ago

libfastrtps.so.2.6 shouldn't be a symlink. Is it still? What error do you have now?

yuzu-ogura commented 4 months ago

libfastrtps.so.2.6 shouldn't be a symlink. Is it still? What error do you have now?

Thanks @razr .The error is still not found library, like below: I have already dereference symlink:

razr commented 4 months ago

please use ; as a separator in the LD_LIBRARY_PATH instead of :, e.g.

set env LD_LIBRARY_PATH="path1;path2"

yuzu-ogura commented 4 months ago

please use ; as a separator in the LD_LIBRARY_PATH instead of :, e.g.
set env LD_LIBRARY_PATH="path1;path2"

Thank you so much @razr , I followed your advice, it turns out that overcome this problem.

razr commented 4 months ago

I'm glad to hear it. Now back to your question about the library size. It is compiled in Debug mode. If you want to have it smaller please change CMAKE_BUILD_TYPE from Debug to Release here https://github.com/Wind-River/vxworks7-ros2-build/blob/master/pkg/ros2/files/humble/vxworks.mixin#L8

yuzu-ogura commented 4 months ago

I'm glad to hear it. Now back to your question about the library size. It is compiled in Debug mode. If you want to have it smaller please change CMAKE_BUILD_TYPE from Debug to Release here https://github.com/Wind-River/vxworks7-ros2-build/blob/master/pkg/ros2/files/humble/vxworks.mixin#L8

Thanks a lot @razr , I get it. Now I have one more question. This is my QEMU command : qemu-system-x86_64 -m 2G -kernel vxsdk/bsps/itl_generic_3_0_0_2/vxWorks -net nic -net user,hostfwd=tcp::1534-:1534,hostfwd=tcp::2345-:2345 -display none -serial stdio -monitor none -append "bootline:fs(0,0)host:vxWorks h=10.0.2.2 e=10.0.2.15 u=target pw=vxTarget o=gei0" How to open multiple terminals under VxWorks like Linux. (we can see here are double terminals on linux)

razr commented 4 months ago

I'm not so sure about your setup. I do telnet to the target as described https://github.com/Wind-River/vxworks7-ros2-build?tab=readme-ov-file#telnet-to-the-vxworks-qemu-target

yuzu-ogura commented 4 months ago

I'm not so sure about your setup. I do telnet to the target as described https://github.com/Wind-River/vxworks7-ros2-build?tab=readme-ov-file#telnet-to-the-vxworks-qemu-target

Thanks @razr for helping me enthusiastically solve another difficult problem👍

Wind-River / vxworks7-ros2-build

Help for debugging VxWorks error signal 11 #9