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Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
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MicroROS ros_domain_id issue #267

Closed luke-reframe closed 3 months ago

luke-reframe commented 3 months ago

Discussed in https://github.com/Yaskawa-Global/motoros2/discussions/266

Originally posted by **luke-reframe** June 20, 2024 Hello, Upon changing the ros_domain_id field in my motoros2_config.yaml away from the default, microROS has entirely stopped working. I have confirmed through the debug listener that both the host and the controller are using the correct ros_domain_id (5) though microROS continues to crash upon connection. It should be noted that I had no issues with connecting, listing nodes/topics, and sending actions via the FollowJointTrajectory action server prior to this. I am using a yrc1000micro controller with an HC10DT running Humble 0.1.2. Here is my config [motorosconfig.txt](https://github.com/user-attachments/files/15918437/motorosconfig.txt) Debug log: [DebugLog620.txt](https://github.com/user-attachments/files/15918438/DebugLog620.txt) and the docker command I have been using to run microROS with associated output (same run as the Debug log): [dockercommand.txt](https://github.com/user-attachments/files/15918478/dockercommand.txt) Note that I have attempted to run both commands: `docker run -it --rm --net=host --user=$(id -u):$(id -g) microros/micro-ros-agent:humble udp4 --port 8888 ` and `docker run -it --rm --net=host --user=$(id -u):$(id -g) -e ROS_DOMAIN_ID=5 microros/micro-ros-agent:humble udp4 --port 8888 ` both resulting in the same error. The first command is the one I have been successfully using with ros_domain_id 0.
ted-miller commented 3 months ago

I'm closing this issue to avoid confusion with the open discussion, #266. If we identify a problem with the MotoROS2 software, we'll re-open this.