Latest version broken on Humble [Bug]

[martincerven]

Describe the bug

Latest version (1.0.0-alpha.4) of zenoh-bridge-ros2dds installed from apt on 22.04 & Humble is broken even with simple: ros2 run demo_nodes_cpp talker & ros2 run demo_nodes_cpp listener and prints errors:

1721139897.221382 [42]  recvUC: malformed packet received from vendor 1.16 state parse:INFO_TS <52545053 02010110 26de1001 97a33730 d50177d6 0e010c00 01108b96 de640447 @0xac 09010800 d0819666 f97070a2 1505a800 00001000 00001404 00001303 00000000 07000000 d0819666 22a47425 0a000000 2f6c6973 74656e65 72000000 01000000> (note: maybe partially bswap'd) smid 0x9 flags 0x1 otnh 8

I was trying zenoh bridge with cyclone+iceoryx & images & pointclouds and had installed older version of bridge on one machine and latest on the other, it threw just yet another type of error which I didn't wrote down.

It also printed these malformed packet errors which I at first thought is because of pointclouds or iceoryx or whatnot but then I downloaded older version of bridge on both machines and it works even with images, pointclouds and iceoryx.

Here are exaples of configs that I use over wifi:

{
    mode: "peer",
    connect: { endpoints: ["tcp/10.42.0.1:7447"] },
    plugins: {
      ros2dds: {
        id: "remote",
        namespace: "/bot1",
        deny: {
          publishers: [".*/_internal/.*"],
          subscribers: [".*/_internal/.*"],
          service_servers: [".*/_internal/.*"],
          service_clients: [".*/_internal/.*"],
          action_servers: [".*/_internal/.*"],
          action_clients: [".*/_internal/.*"]
        },
        pub_max_frequencies: [
          ".*/image_raw=10",
          ".*/camera_info=10",
           ".*/overlay=10",
           ".*/points=10",
        ],
      },
      rest: { http_port: 8000 }
    }
  }

To reproduce

1. zenoh-bridge-ros2dds on machine A
2. zenoh-bridge-ros2dds on machine B
3. ros2 run demo_nodes_cpp talker on machine A
4. ros2 run demo_nodes_cpp listener on machine B
5. close one or other node or wait and errors will appear

System info

Ubuntu 22.04 Humble CycloneDDS Nvidia Jetson Orin devices Wifi hotspot

[franz6ko]

I am having the very same problem with ROS2 Foxy using CycloneDDS.

I have a router configured to run over my ROS_DOMAIN 0 and a client over my ROS_DOMAIN 1

Router:

Client:

If I comment the position topic on the client, a ros2 topic list command list the topic but an echo wont publish it. If I uncomment the position topic on the client, a ros2 topic echo will give the same error messages @martincerven is having:

EDIT: I went ahead and tested with the same version martin did and it works for me too! Thanks @martincerven

[aosmw]

I can also confirm.

I rolled back to 0.11.0-stable and marked it with a apt-mark hold.

The forced purging of the package is also necessary for me due to bugs in the debian maintainer scripts.

sudo -i
systemctl status zenoh-bridge-ros2dds.service
systemctl stop zenoh-bridge-ros2dds.service
apt-mark unhold zenoh-bridge-ros2dds
dpkg --purge --force-all zenoh-bridge-ros2dds
id -u zenoh-bridge-ros2dds &> /dev/null || useradd -r -s /bin/false zenoh-bridge-ros2dds
apt install zenoh-bridge-ros2dds=0.11.0-stable
apt-mark hold zenoh-bridge-ros2dds
systemctl start zenoh-bridge-ros2dds.service
journalctl -ru zenoh-bridge-ros2dds.service

[aosmw]

Possibly related - https://github.com/eclipse-zenoh/zenoh-pico/pull/530

[JEnoch]

Thank you all for reporting this. I managed to reproduce and will investigate further this regresion.

I don't think it's related to zenoh-pico, since it's not used at all in this bridge/plugin.

[sumitpaulde]

I am having this error.

2024-07-23T13:23:36.387283Z ERROR             net-0 ThreadId(20) zenoh_transport::unicast::establishment::open: Received a close message (reason INVALID) in response to an InitSyn on: tcp/192.168.2.102:42828 => tcp/192.168.2.108:7447 at /home/runner/.cargo/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.4/src/unicast/establishment/open.rs:239.

When I am trying to subscribe to the ros2 topic with zenoh using zenoh-plugin-ros2dds between two physical nodes.

[evshary]

Hi @sumitpaulde I didn't manage to reproduce your error. Would you mind creating another issue and providing the reproducible step? Thank you. @JEnoch I guess the issue can be closed after https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/pull/191

[JEnoch]

I am having this error.

2024-07-23T13:23:36.387283Z ERROR             net-0 ThreadId(20) zenoh_transport::unicast::establishment::open: Received a close message (reason INVALID) in response to an InitSyn on: tcp/192.168.2.102:42828 => tcp/192.168.2.108:7447 at /home/runner/.cargo/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-alpha.4/src/unicast/establishment/open.rs:239.

When I am trying to subscribe to the ros2 topic with zenoh using zenoh-plugin-ros2dds between two physical nodes.

Hi @sumitpaulde, this error message indicates that 2 Zenoh processes are failing to establish a connection with each other because they're not using the same protocol version (INVALID message in response to InitSyn). Please, make sure to use the exact same version for all your zenoh-plugin-ros2dds.

[JEnoch]

@JEnoch I guess the issue can be closed after #191

Sure! Don't know why it was not automatically closed following the merge, since the 1st PR's comment is telling Github it fixes this issue...