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eProsima / Micro-XRCE-DDS-Agent

Micro XRCE-DDS Agent respository. Looking for commercial support? Contact info@eprosima.com
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XRCE_DOMAIN_ID_OVERRIDE doesn't work. It is overwritten by dds_xrce_profile.xml #350

Closed KyleJewiss closed 1 year ago

KyleJewiss commented 1 year ago

Issue template

Steps to reproduce the issue

We are using ardupilot on a Cube Orange/PX4. We build and upload the rover version onto the cube orange, which all works very well. We then have integrated Micro-XRCE-DDS-Gen for ardupilot following the documentation here: https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS

We changed the standard domain_ID on the microROS client side from '0' to '255' to enable the ability to override the domain on the agent side. The changes we made can be seen here: https://github.com/Greenroom-Robotics/ardupilot/commit/69143511f1c6b97315c5c9aad62743b0c8145ada

We can then run the following command to post the data from ardupilot to the desired ROS domain of '51': XRCE_DOMAIN_ID_OVERRIDE=51 ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 -r dds_xrce_profile.xml

This however didn't work, and it was still posting to domain 0. When the command is run it would state that the domain_id is overwritten to 51, as can be seen here: image

We overcame this issue by adding '51' to the 'dds_xrce_profile.xml' file in 'AP_DDS'. With this line changed everything appears to work as expected, with it being posted to domain 51. This is the link to the xml file: https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_DDS/dds_xrce_profile.xml

Expected behavior

Environmental variable should override setting of domain ID.

Actual behavior

dds_xrce_profile.xml overrides environmental variable

pablogs9 commented 1 year ago

It seems that this feature is only implemented for Binary entity creation and you are using Reference entity creation.

Let me open a quick PR for fixing this.

pablogs9 commented 1 year ago

Could you check that an Agent using this branch works as expected: https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/351 ?

pablogs9 commented 1 year ago

https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/351 merged and ros2 branch forwarded to develop. This issue shall be solved. Please reopen if any problem.