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Client cannot create participant with agent #14

Closed maxikrie closed 3 years ago

maxikrie commented 3 years ago

I am running MicroXRCEAgent compiled from sources (Micro-XRCE-DDS master) and microxrceclient compiled for NuttX (Micro-XRCE-DDS-Apps master). I can create a session from the client, which is acknowledged by the agent - however when trying to create a participant I get an error by the agent. This is the full output of the agent:

MicroXRCEAgent A subcommand is required Run with --help for more information.

Enter command: udp4 --port 5001 Press CTRL+C to exit [1610475334.625951] info | UDPv4AgentLinux.cpp | init | running... | port: 5001 [1610475458.569652] info | Root.cpp | create_client | create | client_key: 0xAABBCCDD, session_id: 0x81 [1610475458.569736] info | SessionManager.hpp | establish_session | session established | client_key: 0x2864434397, address: 192.168.0.181:12622 [1610475458.569796] info | SessionManager.hpp | establish_session | session re-established | client_key: 0x2864434397, address: 192.168.0.181:12622 2021-01-12 19:17:55.726 [XMLPARSER Error] Profile 'default_xrce_participant' not found ' -> Function fillParticipantAttributes

The commands for the client are: create_session create_participant 1

I am following this tutorial https://micro-xrce-dds.docs.eprosima.com/en/latest/shapes_demo.html

maxikrie commented 3 years ago

I managed to get it partially working - apparently a file called DEFAULT_FASTRTPS_PROFILES.xml needs to be located at the location from where MicroXRCEAgent is executed. I copied the file content from Micro-XRCE-DDS-Agent/test/agent.refs. Is this explained anywhere in the tutorial and did I just miss it?

maxikrie commented 3 years ago

i can now publish data from NuttX and see the result in the ShapesDemo GUI with the following command write_data 1 128 200 200 40 BLUE

However, when I subscribe to data from the ShapesDemo GUI I cannot receive anything in NuttX. I use the following commands

create_session create_participant 1 create_topic 1 1 create_subscriber 1 1 create_datareader 1 1 request_data 1 128 5

I use the default publish option (RED Square) in the ShapesDemo GUI, which is correctly received in another instance of the GUI.

Interestingly, if I create in addition a publisher in NuttX, the published data is correctly received and I get the following output in the shell Sending... [SHAPE_TYPE | color: BLUE | x: 200 | y: 200 | size: 40] Status: OK Receiving... [SHAPE_TYPE | color: BLUE | x: 200 | y: 200 | size: 40]

Shouldn't I also be able to receive data from the ShapesDemo GUI as I can also publish to it?

pablogs9 commented 3 years ago

Can you share the output of the XRCE agent when you are creating the entities and publishing?

Please remember to launch the agent with the -v6 flag to have verbose output.

maxikrie commented 3 years ago

Thank you for looking into this and the quick reply. When setting up a subscriber on the client side with

create_session create_participant 1 create_topic 1 1 create_subscriber 1 1 create_datareader 1 1 request_data 1 128 5

I get the following output on the agent side:

Enter command: udp4 --port 5001 -v6
Press CTRL+C to exit
[1610541117.820416] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 5001
[1610541117.820930] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1610541165.450984] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x00000000, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 3C 00
[1610541165.451235] info     | Root.cpp           | create_client            | create                 | client_key: 0xAABBCCDD, session_id: 0x81
[1610541165.451352] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x2864434397, address: 192.168.0.181:58649
[1610541165.451532] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1610541165.452503] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 3C 00
[1610541165.452706] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 192.168.0.181:58649
[1610541165.452858] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1610541165.454910] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA BB CC DD 81 00 3C 00
[1610541165.455037] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x2864434397, address: 192.168.0.181:58649
[1610541165.455094] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1610541180.969509] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 48, data: 
0000: 81 80 00 00 01 01 28 00 00 0A 00 11 01 01 AD DE 19 00 00 00 64 65 66 61 75 6C 74 5F 78 72 63 65
0020: 5F 70 61 72 74 69 63 69 70 61 6E 74 00 BE 00 00
[1610541180.972311] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1610541180.973785] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1610541180.977965] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1610541180.978261] debug    | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xAABBCCDD, participant_id: 0x001(1)
[1610541180.978350] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 11 00 00
[1610541180.978386] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1610541180.978411] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1610541180.978432] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1610541180.978457] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1610541181.051008] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1610541181.072822] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1610541181.072879] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1610541181.072897] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1610541181.073077] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1610541181.073131] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1610541181.073173] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1610541181.076180] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1610541181.078465] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1610541195.476240] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 40, data: 
0000: 81 80 01 00 01 01 1E 00 00 0B 00 12 02 01 AD DE 10 00 00 00 73 68 61 70 65 74 79 70 65 5F 74 6F
0020: 70 69 63 00 00 11 AD DE
[1610541195.476501] debug    | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAABBCCDD, topic_id: 0x001(2), participant_id: 0x001(1)
[1610541195.476609] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 12 00 00
[1610541195.476644] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1610541195.478799] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1610541195.478852] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1610541195.479049] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1610541195.479099] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1610541195.480552] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1610541205.912577] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 81 80 02 00 01 01 0F 00 00 0C 00 14 04 02 AD DE 01 00 00 00 00 00 11 61
[1610541205.913146] debug    | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAABBCCDD, subscriber_id: 0x001(4), participant_id: 0x001(1)
[1610541205.913341] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 14 00 00
[1610541205.913384] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1610541205.914769] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80
[1610541205.914974] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1610541205.915035] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80
[1610541205.915200] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1610541205.916800] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1610541212.883573] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 44, data: 
0000: 81 80 03 00 01 01 24 00 00 0D 00 16 06 01 AD DE 16 00 00 00 73 68 61 70 65 74 79 70 65 5F 64 61
0020: 74 61 5F 72 65 61 64 65 72 00 00 14
[1610541212.883677] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 03 00 03 00 80
[1610541212.885557] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 03 00 03 00 80
[1610541212.887460] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 03 00 03 00 80
[1610541212.887644] debug    | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAABBCCDD, datareader_id: 0x001(6), subscriber_id: 0x001(4)
[1610541212.887788] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 16 00 00
[1610541212.887835] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1610541212.887878] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1610541212.887918] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1610541212.887949] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1610541212.893935] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1610541217.507598] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 24, data: 
0000: 81 80 04 00 08 01 10 00 00 0E 00 16 80 00 00 01 05 00 00 00 00 00 00 00
[1610541217.507688] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 04 00 04 00 80
[1610541217.508072] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1610541217.508163] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1610541217.508818] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 04 00 04 00 80
[1610541217.509070] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80

I am running the ShapeDemo, which publishes on the default topic (RED squares), but I don't receive anything on the client.

When I run the following additional commands on the client:

create_publisher 1 1 create_datawriter 1 1 write_data 1 128 200 200 40 BLUE

I get the following output on the agent:

[1610541515.278939] debug    | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xAABBCCDD, publisher_id: 0x001(3), participant_id: 0x001(1)
[1610541515.279126] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 04 00 05 01 06 00 00 0F 00 13 00 00
[1610541515.279172] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1610541515.281473] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 05 00 05 00 80
[1610541515.281512] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 05 00 05 00 80
[1610541515.281661] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1610541515.281710] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1610541515.282596] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1610541529.906696] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 44, data: 
0000: 81 80 06 00 01 01 24 00 00 10 00 15 05 01 00 01 16 00 00 00 73 68 61 70 65 74 79 70 65 5F 64 61
0020: 74 61 5F 77 72 69 74 65 72 00 00 13
[1610541529.907554] debug    | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xAABBCCDD, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1610541529.907647] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 14, data: 
0000: 81 80 05 00 05 01 06 00 00 10 00 15 00 00
[1610541529.907678] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1610541529.908634] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 06 00 06 00 80
[1610541529.908718] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1610541529.910782] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1610541529.910822] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 06 00 06 00 80
[1610541529.910883] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1610541538.860728] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 36, data: 
0000: 81 80 07 00 07 01 1C 00 00 11 00 15 05 00 00 00 42 4C 55 45 00 00 11 70 C8 00 00 00 C8 00 00 00
0020: 28 00 00 00
[1610541538.861014] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000001, len: 24, data: 
0000: 05 00 00 00 42 4C 55 45 00 00 11 70 C8 00 00 00 C8 00 00 00 28 00 00 00
[1610541538.861125] debug    | DataReader.cpp     | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000001, len: 24, data: 
0000: 05 00 00 00 42 4C 55 45 00 00 11 70 C8 00 00 00 C8 00 00 00 28 00 00 00
[1610541538.861139] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1610541538.861223] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 36, data: 
0000: 81 80 06 00 09 01 1C 00 00 0E 00 16 05 00 00 00 42 4C 55 45 00 00 11 70 C8 00 00 00 C8 00 00 00
0020: 28 00 00 00
[1610541538.862648] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 07 00 07 00 80
[1610541538.862683] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 07 00 07 00 80
[1610541538.862745] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1610541538.862778] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1610541538.866875] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0xAABBCCDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80

The published data is received correctly on the client and also another instance of ShapeDemo, which subscribes to the Square topic.

This is the complete output on the client side (NuttX): nsh> client --udp 192.168.0.199 5001 UDP mode => ip: 192.168.0.199 - port: 5001 Running Shapes Demo Client... Status: OK Status: OK Status: OK Status: OK Status: OK Status: OK Status: OK Sending... [SHAPE_TYPE | color: BLUE | x: 200 | y: 200 | size: 40] Status: OK Receiving... [SHAPE_TYPE | color: BLUE | x: 200 | y: 200 | size: 40]

maxikrie commented 3 years ago

Do you have any more insights to this? I am a bit at loss how to tackle this, since the publish and 'loopback' work correctly - so it seems that I am not completely off..

pablogs9 commented 3 years ago

If you publish a BLUE square from the Shapes demo GUI do you receive it in the Micro XRCE-DDS Client?

I know that:

Is this right?

Try to publish the exact same shape/color/size from the GUI, I think that this is a problem with:

maxikrie commented 3 years ago

If you publish a BLUE square from the Shapes demo GUI do you receive it in the Micro XRCE-DDS Client?

I know that:

* Sending shape from GUI to GUI: OK

* Sending shape from XRCE to XRCE: OK

* Sending shape from XRCE to GUI: OK

* Sending shape from GUI to XRCE: ERROR

Is this right?

Correct

Try to publish the exact same shape/color/size from the GUI, I think that this is a problem with:

* Topic names

* DDS QoS

* DDS Entities

Ok, I got it working! The missing piece was not color or size, but durability of the topic. This was set to 'TRANSIENT_LOCAL' in the DEFAULT_FASTRTPS_PROFILES.xml, but set to 'VOLATILE' in the GUI. I can now receive 5 messages of the Square topic in any color or size as expected from

request_data 1 128 5

I think a bit more thorough documentation on this topic and a description of a working example would be appreciated as I was already missing the piece that DEFAULT_FASTRTPS_PROFILES.xml was required when starting the agent and apparently the specific QoS settings caused the issue.

Thank you for the help!

pablogs9 commented 3 years ago

@FranFin @jamoralp can we take this issue into account for the documentation refactor?