micro-ros issue in Galactic

[crimean7]

Jetson Nano ROS2 Galactic

Teensy goes to the error loop (led flashes two times) or, sometimes, micro-ros agent restarts when the robot receives the goal.

Seems there isn't such error in ROS2 Foxy.

I'll really appreciate an assistance to fix it.

[grassjelly]

could you try this minimal example? https://github.com/linorobot/micro_ros_platformio

[crimean7]

grassjelly, thanks for the prompt response.

Need to re-connect teensy each time I'm starting ros_agent. The example is working as intended.

[grassjelly]

strange, the Teensy should be able to reconnect. It usually takes 5 to 20 seconds. Try waiting for Teensy to fully reconnect before sending the Twist commands

[crimean7]

Sorry, probably, I didn't explained it right.

When linorobot firmware is burned the Teensy reconnects by itself. But 'falling' into error loop (or restarts the micro-ros connection) once goal is set.

The example you sent the link is working as intended, but need to reconnect the teensy each time the micro-ros started.

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root@m1b3-t:/microros_ws# ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 [1647875931.952952] info | TermiosAgentLinux.cpp | init | running... | fd: 3 [1647875931.953906] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 [1647875940.978777] info | TermiosAgentLinux.cpp | fini | server stopped | fd: 3 [1647875940.988966] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection... [1647875941.990627] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection... [1647875942.992111] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection... [1647875943.993621] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection... [1647875944.533476] info | TermiosAgentLinux.cpp | init | running... | fd: 3 [1647875946.421842] info | Root.cpp | create_client | create | client_key: 0x50C7822F, session_id: 0x81 [1647875946.423212] info | SessionManager.hpp | establish_session | session established | client_key: 0x50C7822F, address: 0 [1647875946.477200] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x50C7822F, participant_id: 0x000(1) [1647875946.483103] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x50C7822F, topic_id: 0x000(2), participant_id: 0x000(1) [1647875946.488406] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x50C7822F, publisher_id: 0x000(3), participant_id: 0x000(1) [1647875946.496285] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x50C7822F, datawriter_id: 0x000(5), publisher_id: 0x000(3)

'device not found' is when I disconnect teensy

[grassjelly]

by goal, do you mean Navigation goal?

[crimean7]

Yes.

[crimean7]

teleop is working fine

[crimean7]

BTW, echoing linorobot firmware topics:

/imu/data - getting data /odom/unfiltered - getting nothing

Calibration firmware is working fine. See encoders' data

[crimean7]

Hey Juan, I send you an email massage to your gmail address. Thanks in advance for your prompt response.

[adityasivaraj]

Hi @crimean7 and @grassjelly , I am facing the same problem. Were you able to find the cause and solution?