Micro-ROS-agent failed to discover other nodes after network disconnection

[omertal88]

Is there an already existing issue for this?

• [X] I have searched the existing issues

Expected behavior

After network reconnection - nodes are expected to re-discover eachother.

Current behavior

Using Micro-ROS-agent, sometimes I may lose network connection between other nodes. This happens for example if wireless link is weak and my devices are far apart. Sometimes when connection is restored, the Micro-ROS-agent won't discover the peers (we use CycloneDDS for all other nodes).

Steps to reproduce

Have a Micro-ROS-Agent (or any node with FastRTPS would work as far as I understand) running, and another node running CycloneDDS on a remote machine. Publish a topic from the FastRTPS node to a subscriber on the cyclone node. Disconnect the network on one of the devices, and reconnect after about 15 seconds. The subscriber sometimes won't receive messages from the publisher.

Fast DDS version/commit

Not sure - the one that comes with ROS2 galactic

Platform/Architecture

Ubuntu Focal 20.04 arm64

Transport layer

UDPv4

Additional context

Same issue with CycloneDDS logs and some other observations can be found here: https://github.com/eclipse-cyclonedds/cyclonedds/issues/1648

XML configuration file

No response

Relevant log output

No response

Network traffic capture

gcu_2023_04_10_16_13.zip

[Mario-DL]

Hi @omertal88,

Thanks for the description and attached files. Please, consider moving the issue to the corresponding repository so that we can further investigate it.

[JLBuenoLopez]

No news from the user in a month. Closing due to inactivity according to the Fast DDS Contributing guidelines. Also, this issue seems related to another repository, or at least, it should be checked that the issue is not coming from the Micro-ROS-Agent.