ddsi_udp_conn_write to udp failed with retcode -1 error shows up sometimes after launch

yaukaizhi commented 11 months ago

Checklist

[X] I've read the contribution guidelines.
[X] I've searched other issues and no duplicate issues were found.
[X] I'm convinced that this is not my fault but a bug.

Description

Sometimes when launching the my sensor drivers with autoware, the following error pops up:

ddsi_udp_conn_write to udp failed with retcode -1

Expected behavior

no error messages

Actual behavior

error messages as described

Steps to reproduce

Launch autoware universe

Versions

No response

Possible causes

No response

Additional context

No response

maxime-clem commented 11 months ago

Can you please share more details about the issue.

Which driver is throwing this error ?
Is there any way to reproduce the issue consistently ?
How does the error affect Autoware ?

yaukaizhi commented 11 months ago

Error occurs when launching autoware universe after launching my own driver code
Can't reproduce this consistently
The error will cause autoware universe to crash

Just wanted to know if anyone has seen similar issues and what direction I should look into solving this :)

yaukaizhi commented 11 months ago

solution is to write in .bashrc export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

seems like cyclonedds cant handle large loads

yaukaizhi commented 8 months ago

@maxime-clem I'm getting this issue when using autoware's recommended DDS settings. Has anyone encountered this?

In the bashrc

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=<path_to_cyclonedds_config.xml>
sudo sysctl -w net.core.rmem_max=2147483647
sudo sysctl net.ipv4.ipfrag_time=3
sudo sysctl net.ipv4.ipfrag_high_thresh=1342177280

cyclone dds config xml

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain Id="any">
        <General>
            <Interfaces>
                <NetworkInterface autodetermine="true" priority="default" multicast="default" />
            </Interfaces>
            <AllowMulticast>default</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>
        <Internal>
            <SocketReceiveBufferSize min="10MB"/>
            <Watermarks>
                <WhcHigh>500kB</WhcHigh>
            </Watermarks>
        </Internal>
    </Domain>
</CycloneDDS>

Error messages I get

[component_container_mt-57] 1698811787.925822 [0]        tev: ddsi_udp_conn_write to udp/192.168.1.119:53234 failed with retcode -1
[component_container_mt-57] 1698811787.925830 [0]        tev: ddsi_udp_conn_write to udp/192.168.1.119:53446 failed with retcode -1
[component_container_mt-57] 1698811787.925839 [0]        tev: ddsi_udp_conn_write to udp/192.168.1.119:53777 failed with retcode -1
[component_container_mt-57] 1698811787.925847 [0]        tev: ddsi_udp_conn_write to udp/192.168.1.119:54280 failed with retcode -1
[component_container_mt-57] 1698811787.925855 [0]        tev: ddsi_udp_conn_write to udp/192.168.1.119:55546 failed with retcode -1

maxime-clem commented 7 months ago

I do not know about these error messages. Can you notice any issue when running Autoware which may be related to these messages ? The error messages may be caused by one machine on your network (192.168.1.119). If you do not need to share message with that machine then you can ignore the error messages.

stale[bot] commented 5 months ago

This pull request has been automatically marked as stale because it has not had recent activity.

yaukaizhi commented 5 months ago

The issue is caused by when your machine disconnects from the network it was on. I believe this could be a ROS2 thing.

renzeyu888 commented 3 months ago

我也遇到了同样的问题，最后您是如何解决的？同样认为是ROS2的问题，我的激光雷达是80线激光雷达

yaukaizhi commented 3 months ago

我的问题是机器人断线后，ROS2 就没有IP了就会看到这个

要确保不会断线

autowarefoundation / autoware.universe