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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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Interoperability issues with different DDS implementations #8

Open ted-miller opened 1 year ago

ted-miller commented 1 year ago

In Galactic, the default RMW has changed from Fast DDS to Cyclone DDS.

During testing, communication failed. Once I stopped the daemon and ran export RMW_IMPLEMENTATION=rmw_fastrtps_cpp everything worked fine.

After having discussed this over at https://github.com/ros2/rmw_cyclonedds/issues/184 it appears this is a much wider problem. It's not just Fast-DDS vs Cyclone, but it's very likely all currently available DDS-based RMWs are incompatible.

Labeling as a bug.

It's not a bug here, or something we can control, but it's something users don't expect, causes MotoROS2 to not work with anything other than Fast-DDS and we will get support requests related to this.

gavanderhoorn commented 1 year ago

Added micro-ROS label as although it's not strictly micro-ROS itself, rmw_microxrcedds is partly why we run into this.

gavanderhoorn commented 1 year ago

@destogl: the issue we discussed in Bordeaux.