How can I connect 2 or 3 clients(GR-ROSE) from an Agent?

b0toku commented 3 years ago

I'd like to connect 2 or 3 clients(GR-ROSE) from an agent and send from some nodes to some clients as below. node1 -> client1 (GR-ROSE1) node2 -> client2 (GR-ROSE2)

I can't find how I should do for this. Could someone tell me how I can do?

My environment is below.

Environment OS: Ubuntu18.04.5 LTS ROS2: Dashing Diademata Micro-XRCE-DDS-Agent: v1.1.0

Please have a look if you need to check programs below. These are programs (ROS2 side(talker), client (GR-ROSE) side(listener)), two terminals (Micro-XRCE-DDS-Agent, talker program) in Ubuntu, Serial monitor of client(GR-ROSE). These are to send from a node to a client(GR-ROSE).

Program (ROS2 side(talker))

// Copyright 2014 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// www.apache.org/.../LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <chrono>
#include <cstdio>
#include <memory>
#include <string>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>

using namespace std::chrono_literals;

class Talker : public rclcpp::Node
{
public:
explicit Talker(const std::string & topic_name)
: Node("talker"), count_(0)
{
// タイマー実行されるイベントハンドラー関数
auto publish_message =
[this]() -> void // ラムダ式による関数オブジェクトの定義
{
// 送信するメッセージ
auto msg = std::make_unique<std_msgs::msg::String>();
msg->data = "Hello world!" + std::to_string(count_++);

RCLCPP_INFO(this->get_logger(), "%s", msg->data.c_str());
pub_->publish(std::move(msg));
};

// chatterトピックの送信設定
rclcpp::QoS qos(rclcpp::KeepLast(10));
pub_ = create_publisher<std_msgs::msg::String>(topic_name, qos);
// publish_messageの1000ミリ秒周期でのタイマー実行
timer_ = create_wall_timer(1000ms, publish_message);
}

private:
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
rclcpp::TimerBase::SharedPtr timer_;
size_t count_;
};

int main(int argc, char * argv[])
{
// クライアントライブラリの初期化
setvbuf(stdout, NULL, _IONBF, BUFSIZ);
rclcpp::init(argc, argv);

// talkerノードの生成とスピン開始
auto node = std::make_shared<Talker>("chatter");
rclcpp::spin(node);
rclcpp::shutdown();

return 0;
}

Program (client (GR-ROSE) side(listener))

// Copyright 2018 eSOL Co.,Ltd.
// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// www.apache.org/.../LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <Arduino.h>
#include <WiFiEsp.h>
#include <Ethernet.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <limits.h>

#include "ros2_msg/Ros2String.h"

#include <uxr/client/client.h>
#include <ucdr/microcdr.h>

extern "C" {
#include <FreeRTOS.h>
#include <task.h>
}

// Micro-XRCE-DDS-Client key identifier of the client.
// If multiple clients connect to the same agent, each client must have a different key.
#define CLIENT_KEY 0xCCCCDDDD

#define BUFFER_SIZE UXR_CONFIG_TCP_TRANSPORT_MTU

char ssid[] = "SSID"; // your network SSID (name)
char pass[] = "PASSWORD"; // your network password
int status = WL_IDLE_STATUS; // the Wifi radio's status
byte mac[] = { 0x74, 0x90, 0x50, 0x00, 0x79, 0x03 };
IPAddress ip(192, 168, 0, 3);

uxrSession session;
uxrTCPTransport transport;
uxrTCPPlatform tcp_platform;
uxrStreamId output_stream;
uxrStreamId input_stream;
static char agent_ip[32] = {0};

uint8_t output_best_effort_stream_buffer[BUFFER_SIZE];
uint8_t input_best_effort_stream_buffer[BUFFER_SIZE];

static bool use_ethernet = true;

void on_topic(uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* mb, void* args);
void on_agent_found(const uxrAgentAddress* address, void* args);
static void prvUXRManagerTask(void * pvParameters);

void setup() {
// Initialize the LED pin
pinMode(PIN_LED1, OUTPUT);

if(!use_ethernet)
{
// initialize serial for debugging
Serial.begin(115200);
// initialize serial for ESP module
Serial6.begin(115200);
// initialize ESP module
WiFi.init(&Serial6);
}
else
{
// Serial output to USB
Serial.begin(9600);
}

if(!use_ethernet)
{
// check for the presence of the shield
if (WiFi.status() == WL_NO_SHIELD) {
Serial.println("WiFi shield not present");
// don't continue
while (true);
}
// attempt to connect to WiFi network
while ( status != WL_CONNECTED) {
Serial.print("Attempting to connect to WPA SSID: ");
Serial.println(ssid);
// Connect to WPA/WPA2 network
status = WiFi.begin(ssid, pass);
}
}
else
{
// Setting IP
Ethernet.begin(mac, ip);
}

// Wait for network configuration
vTaskDelay(5000);

// Discovery Agent
Serial.println("Discovery Agent...");
uxrAgentAddress chosen;
chosen.ip = agent_ip;

// Choose Ethernet or WiFi
uxr_discovery_choose_ethernet(use_ethernet);

// Try forever until Agent is found
uxr_discovery_agents_default(INT_MAX, 1000, on_agent_found, &chosen);

Serial.print("Chosen agent => ip: ");
Serial.print(chosen.ip);
Serial.print(", port: ");
Serial.println(chosen.port);

// Transport
tcp_platform.use_ethernet = use_ethernet;
if (!uxr_init_tcp_transport(&transport, &tcp_platform, chosen.ip, chosen.port))
{
Serial.println("Error at create transport.");
return;
}

// Session
uxr_init_session(&session, &transport.comm, CLIENT_KEY);
uxr_set_topic_callback(&session, on_topic, NULL);
if (!uxr_create_session(&session))
{
Serial.println("Error at create session.");
return;
}

// Streams
output_stream = uxr_create_output_best_effort_stream(&session, output_best_effort_stream_buffer, BUFFER_SIZE);
input_stream = uxr_create_input_best_effort_stream(&session);

// Create entities
uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
const char* participant_xml = "<dds>"
"<participant>"
"<rtps>"
"<name>default_xrce_participant</name>"
"</rtps>"
"</participant>"
"</dds>";
uint16_t participant_req = uxr_buffer_create_participant_xml(&session, output_stream, participant_id, 0, participant_xml, UXR_REPLACE);

// In order to avoid buffer overflow, uxr_flash_output_streams() has to be
// called everytime entities message is created.
(void) uxr_flash_output_streams(&session);

uxrObjectId topic_id = uxr_object_id(0x01, UXR_TOPIC_ID);
const char* topic_xml = "<dds>"
"<topic>"
"<name>rt/chatter</name>"
"<dataType>std_msgs::msg::dds_::String_</dataType>"
"</topic>"
"</dds>";
uint16_t topic_req = uxr_buffer_create_topic_xml(&session, output_stream, topic_id, participant_id, topic_xml, UXR_REPLACE);

// In order to avoid buffer overflow, uxr_flash_output_streams() has to be
// called everytime entities message is created.
(void) uxr_flash_output_streams(&session);

uxrObjectId subscriber_id = uxr_object_id(0x01, UXR_SUBSCRIBER_ID);
const char* subscriber_xml = "";
uint16_t subscriber_req = uxr_buffer_create_subscriber_xml(&session, output_stream, subscriber_id, participant_id, subscriber_xml, UXR_REPLACE);

// In order to avoid buffer overflow, uxr_flash_output_streams() has to be
// called everytime entities message is created.
(void) uxr_flash_output_streams(&session);

uxrObjectId datareader_id = uxr_object_id(0x01, UXR_DATAREADER_ID);
const char* datareader_xml = "<dds>"
"<data_reader>"
"<topic>"
"<kind>NO_KEY</kind>"
"<name>rt/chatter</name>"
"<dataType>std_msgs::msg::dds_::String_</dataType>"
"</topic>"
"</data_reader>"
"</dds>";
uint16_t datareader_req = uxr_buffer_create_datareader_xml(&session, output_stream, datareader_id, subscriber_id, datareader_xml, UXR_REPLACE);

// In order to avoid buffer overflow, uxr_flash_output_streams() has to be
// called everytime entities message is created.
(void) uxr_flash_output_streams(&session);

// Request topics
uxrDeliveryControl delivery_control = {0};
delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
(void) uxr_buffer_request_data(&session, output_stream, datareader_id, input_stream, &delivery_control);

xTaskCreate(prvUXRManagerTask, "ListenerDemo", configMINIMAL_STACK_SIZE * 5, NULL, 2, NULL);
}

void loop() {
// Do nothing
vTaskDelay(10000);
}

void on_topic(uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* mb, void* args) {
(void) session; (void) object_id; (void) request_id; (void) stream_id;

Ros2String topic;
Ros2String_deserialize_topic(mb, &topic);

Serial.print("Received topic: ");
Serial.println(topic.data);

// Toggle the heartbeat LED
digitalWrite(PIN_LED1, !digitalRead(PIN_LED1));
}

void on_agent_found(const uxrAgentAddress* address, void* args) {
uxrAgentAddress* agent = (uxrAgentAddress*)args;

Serial.print("Found agent => ip: ");
Serial.print(address->ip);
Serial.print(", port: ");
Serial.println(address->port);

memcpy((void*)(agent->ip), address->ip, 32);
agent->port = address->port;
}

static void prvUXRManagerTask(void * pvParameters) {
// Cannot confirm whether client is connected to agent or not.
while (1)
{
// Receive topics
(void) uxr_run_session_time(&session, 1);

vTaskDelay(1);
}

// Delete resources
(void) uxr_delete_session(&session);
(void) uxr_close_tcp_transport(&transport);

// Delete this task
vTaskDelete(NULL);
}

Terminal in Ubuntu (Micro-XRCE-DDS-Agent)

bash: install/local_setup.bash: そのようなファイルやディレクトリはありません
b0toku@b0toku-System-Product-Name:~$ cd micro-XRCE-DDS-agent
b0toku@b0toku-System-Product-Name:~/micro-XRCE-DDS-agent$ cd build
b0toku@b0toku-System-Product-Name:~/micro-XRCE-DDS-agent/build$ LD_PRELOAD="/usr/local/lib/libfastrtps.so.1 /usr/local/lib/libfastcdr.so.1" MicroXRCEAgent tcp -p 2020 -d
Enter 'q' for exit
[1608177907.777215] info | TCPServerLinux.cpp | init | running... | port: 2020
[1608177907.777541] info | DiscoveryServerLinux.cpp | init | running... | Port: 7400
[1608177907.919927] info | Root.cpp | create_client | create | client_key: 0xCCCCDDDD, session_id: 0x81
[1608177907.919991] info | TCPServerBase.cpp | on_create_client | session established | client_key: 0xCCCCDDDD, address: 192.168.0.3:13549

Terminal in Ubuntu (talker program) bash: install/local_setup.bash: そのようなファイルやディレクトリはありません b0toku@b0toku-System-Product-Name:~$ . ~/ros2/install/setup.bash b0toku@b0toku-System-Product-Name:~$ ros2 run hello_world talker [INFO] [talker]: Hello world!0 [INFO] [talker]: Hello world!1 [INFO] [talker]: Hello world!2 [INFO] [talker]: Hello world!3 [INFO] [talker]: Hello world!4 [INFO] [talker]: Hello world!5

Serial monitor of client(GR-ROSE)

Discovery Agent...
Found agent => ip: 192.168.0.104, port: 2020
Chosen agent => ip: 192.168.0.104, port: 2020
Received topic: Hello world!0
Received topic: Hello world!1
Received topic: Hello world!2
Received topic: Hello world!3
Received topic: Hello world!4
Received topic: Hello world!5

pablogs9 commented 3 years ago

I have a couple of questions:

Where is uxr_discovery_choose_ethernet defined?
I guess that you have copied the same for Terminal in Ubuntu (talker program) and Terminal in Ubuntu (Micro-XRCE-DDS-Agent)
As far as I see you are receiving the topics in the client since you have Received topic: Hello world!0 right? Could you tell us what is your expected behavior?

b0toku commented 3 years ago

Thank you for your quick reply.

I'm sorry. I don't know where uxr_discovery_choose_ethernet is defined. But I guess it's defined in Micro-XRCE-DDS-Client.
I'm sorry. I didn't notice the mistake. I fixed it.
Yes, it's a right behavior. This is when I used programs for only a node -> a client. I just wondered it's easier to solve this problem if I post these programs. I'd like to know how I have to do to send message or number from 1 or 2 nodes(same PC) as below.

node1 -> client1(GR-ROSE1) node2 -> client2(GR-ROSE2) and node1 -> client1(GR-ROSE1) ↳ client2(GR-ROSE2)

I'd like to know both ways.

It might be very difficult to understand due to my bad explanation. Sorry.

jamoralp commented 3 years ago

Good morning,

Regarding this issue, I have several questions:

Same as my colleague, I can not see where the uxr_discovery_choose_ethernet function comes from. I also see that you are working with a quite old version of the library, so that might be the key.
I guess by "node1/2" you mean a standalone ROS 2 node, running on a computer. You can have several subscribers in your client application consuming information from these nodes. Have you checked that each client is connecting to the Agent using an unique client ID? Did you execute the Agent with the -v6 option to see if entities are being correctly created?

b0toku commented 3 years ago

Thank you for your reply.

Does client ID mean client key? I gave unique keys and IP addresses to the each client and I checked if entities are being correctly created with -v6 option.

A terminal for Micro-XRCE-DDS-Agent is below.

bash: install/local_setup.bash: そのようなファイルやディレクトリはありません
b0toku@b0toku-System-Product-Name:~$ cd micro-XRCE-DDS-agent
b0toku@b0toku-System-Product-Name:~/micro-XRCE-DDS-agent$ cd build
b0toku@b0toku-System-Product-Name:~/micro-XRCE-DDS-agent/build$ LD_PRELOAD="/usr/local/lib/libfastrtps.so.1 /usr/local/lib/libfastcdr.so.1" MicroXRCEAgent tcp -p 2020 -v6 -d
Enter 'q' for exit
[1608605724.075252] info     | TCPServerLinux.cpp | init                     | running...             | port: 2020
[1608605724.075534] info     | DiscoveryServerLinux.cpp | init                     | running...             | Port: 7400
[1608605724.075597] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1608605744.035440] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0x00000000, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA AA BB BB 81 00 FC 03
[1608605744.035564] info     | Root.cpp           | create_client            | create                 | client_key: 0xAAAABBBB, session_id: 0x81
[1608605744.035619] info     | TCPServerBase.cpp  | on_create_client         | session established    | client_key: 0xAAAABBBB, address: 192.168.0.3:31363
[1608605744.035713] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xAAAABBBB, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1608605744.036639] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xAAAABBBB, len: 112, data: 
0000: 81 01 00 00 01 05 68 00 00 0A 00 11 01 02 00 00 59 00 00 00 3C 64 64 73 3E 3C 70 61 72 74 69 63
0020: 69 70 61 6E 74 3E 3C 72 74 70 73 3E 3C 6E 61 6D 65 3E 64 65 66 61 75 6C 74 5F 78 72 63 65 5F 70
0040: 61 72 74 69 63 69 70 61 6E 74 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63
0060: 69 70 61 6E 74 3E 3C 2F 64 64 73 3E 00 00 00 00
[1608605744.036708] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xAAAABBBB, len: 124, data: 
0000: 81 01 01 00 01 05 71 00 00 0B 00 12 02 02 00 00 63 00 00 00 3C 64 64 73 3E 3C 74 6F 70 69 63 3E
0020: 3C 6E 61 6D 65 3E 72 74 2F 63 68 61 74 74 65 72 3C 2F 6E 61 6D 65 3E 3C 64 61 74 61 54 79 70 65
0040: 3E 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 53 74 72 69 6E 67 5F 3C 2F 64
0060: 61 74 61 54 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 64 73 3E 00 00 11 00 00 00
[1608605744.036805] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xAAAABBBB, len: 24, data: 
0000: 81 01 02 00 01 05 0F 00 00 0C 00 14 04 02 00 00 01 00 00 00 00 00 11 73
[1608605744.036845] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xAAAABBBB, len: 168, data: 
0000: 81 01 03 00 01 05 9F 00 00 0D 00 16 06 02 00 00 91 00 00 00 3C 64 64 73 3E 3C 64 61 74 61 5F 72
0020: 65 61 64 65 72 3E 3C 74 6F 70 69 63 3E 3C 6B 69 6E 64 3E 4E 4F 5F 4B 45 59 3C 2F 6B 69 6E 64 3E
0040: 3C 6E 61 6D 65 3E 72 74 2F 63 68 61 74 74 65 72 3C 2F 6E 61 6D 65 3E 3C 64 61 74 61 54 79 70 65
0060: 3E 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 53 74 72 69 6E 67 5F 3C 2F 64
0080: 61 74 61 54 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 61 74 61 5F 72 65 61 64 65 72 3E 3C 2F
00A0: 64 64 73 3E 00 00 14 00
[1608605744.037033] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xAAAABBBB, len: 24, data: 
0000: 81 01 04 00 08 01 10 00 00 0E 00 16 01 00 00 01 FF FF 00 00 00 00 00 00
[1608605744.040228] debug    | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xAAAABBBB, participant_id: 0x001(1)
[1608605744.040388] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xAAAABBBB, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 11 00 00
[1608605744.040491] debug    | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xAAAABBBB, topic_id: 0x001(2), participant_id: 0x001(1)
[1608605744.040543] debug    | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xAAAABBBB, subscriber_id: 0x001(4), participant_id: 0x001(1)
[1608605744.040582] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xAAAABBBB, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 12 00 00
[1608605744.040625] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xAAAABBBB, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 14 00 00
[1608605744.040795] debug    | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xAAAABBBB, datareader_id: 0x001(6), subscriber_id: 0x001(4)
[1608605744.040853] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xAAAABBBB, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 16 00 00
[1608605744.041245] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 00 80
[1608605744.041681] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 00 80
[1608605744.041918] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 00 80
[1608605744.042178] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 00 80
[1608605744.146362] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0x00000000, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F CC CC DD DD 81 00 FC 03
[1608605744.146464] info     | Root.cpp           | create_client            | create                 | client_key: 0xCCCCDDDD, session_id: 0x81
[1608605744.146504] info     | TCPServerBase.cpp  | on_create_client         | session established    | client_key: 0xCCCCDDDD, address: 192.168.0.5:23044
[1608605744.146618] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xCCCCDDDD, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1608605744.147492] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xCCCCDDDD, len: 112, data: 
0000: 81 01 00 00 01 05 68 00 00 0A 00 11 01 02 00 00 59 00 00 00 3C 64 64 73 3E 3C 70 61 72 74 69 63
0020: 69 70 61 6E 74 3E 3C 72 74 70 73 3E 3C 6E 61 6D 65 3E 64 65 66 61 75 6C 74 5F 78 72 63 65 5F 70
0040: 61 72 74 69 63 69 70 61 6E 74 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63
0060: 69 70 61 6E 74 3E 3C 2F 64 64 73 3E 00 00 00 00
[1608605744.147556] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xCCCCDDDD, len: 124, data: 
0000: 81 01 01 00 01 05 71 00 00 0B 00 12 02 02 00 00 63 00 00 00 3C 64 64 73 3E 3C 74 6F 70 69 63 3E
0020: 3C 6E 61 6D 65 3E 72 74 2F 63 68 61 74 74 65 72 3C 2F 6E 61 6D 65 3E 3C 64 61 74 61 54 79 70 65
0040: 3E 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 53 74 72 69 6E 67 5F 3C 2F 64
0060: 61 74 61 54 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 64 73 3E 00 00 11 00 00 00
[1608605744.147664] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xCCCCDDDD, len: 24, data: 
0000: 81 01 02 00 01 05 0F 00 00 0C 00 14 04 02 00 00 01 00 00 00 00 00 11 73
[1608605744.147693] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xCCCCDDDD, len: 168, data: 
0000: 81 01 03 00 01 05 9F 00 00 0D 00 16 06 02 00 00 91 00 00 00 3C 64 64 73 3E 3C 64 61 74 61 5F 72
0020: 65 61 64 65 72 3E 3C 74 6F 70 69 63 3E 3C 6B 69 6E 64 3E 4E 4F 5F 4B 45 59 3C 2F 6B 69 6E 64 3E
0040: 3C 6E 61 6D 65 3E 72 74 2F 63 68 61 74 74 65 72 3C 2F 6E 61 6D 65 3E 3C 64 61 74 61 54 79 70 65
0060: 3E 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 53 74 72 69 6E 67 5F 3C 2F 64
0080: 61 74 61 54 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 61 74 61 5F 72 65 61 64 65 72 3E 3C 2F
00A0: 64 64 73 3E 00 00 14 00
[1608605744.147919] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xCCCCDDDD, len: 24, data: 
0000: 81 01 04 00 08 01 10 00 00 0E 00 16 01 00 00 01 FF FF 00 00 00 00 00 00
[1608605744.150286] debug    | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xCCCCDDDD, participant_id: 0x001(1)
[1608605744.150364] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xCCCCDDDD, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 11 00 00
[1608605744.150476] debug    | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xCCCCDDDD, topic_id: 0x001(2), participant_id: 0x001(1)
[1608605744.150533] debug    | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0xCCCCDDDD, subscriber_id: 0x001(4), participant_id: 0x001(1)
[1608605744.150556] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xCCCCDDDD, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 12 00 00
[1608605744.150590] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xCCCCDDDD, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 14 00 00
[1608605744.150883] debug    | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0xCCCCDDDD, datareader_id: 0x001(6), subscriber_id: 0x001(4)
[1608605744.150922] trace    | FastEntities.cpp   | onParticipantDiscovery   | matched                | entity_id: 0.0.1.c1, guid_prefix: 1.f.50.a.1d.7b.0.0.1.0.0.0
[1608605744.150943] trace    | FastEntities.cpp   | onParticipantDiscovery   | matched                | entity_id: 0.0.1.c1, guid_prefix: 1.f.50.a.1d.7b.0.0.2.0.0.0
[1608605744.150992] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xCCCCDDDD, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 16 00 00
[1608605744.151212] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xCCCCDDDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 00 80
[1608605744.215455] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xCCCCDDDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 00 80
[1608605744.215521] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xCCCCDDDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 00 80
[1608605744.216153] debug    | TCPServerLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0xCCCCDDDD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 00 80
[1608605744.283964] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 03 00 80
[1608605744.284006] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xCCCCDDDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 03 00 80
[1608605744.484020] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 03 00 80
[1608605744.484078] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xCCCCDDDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 03 00 80
[1608605744.684103] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 03 00 80
[1608605744.684164] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xCCCCDDDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 03 00 80
[1608605744.884200] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 03 00 80
[1608605744.884263] debug    | TCPServerLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0xCCCCDDDD, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 03 00 80

pablogs9 commented 3 years ago

Hello @b0toku, yes, client ID means client key.

We are not sure about what is your issue or your question. Could you explain your problem more clearly?

pablogs9 commented 3 years ago

Closing due to inactivity

eProsima / Micro-XRCE-DDS

How can I connect 2 or 3 clients(GR-ROSE) from an Agent? #56