How to pub/sub directly between two STMs ?

[yamati-kz]

I'm trying it, but it doesn't work. I'm happy to receive advice.

pub/sub is working between STM32 NUCLEO-H743ZI2 and ubuntu.　But pub/sub doesn't work directly between STM32 NUCLEO-H743ZI2. Two STM32 NUCLEO-H743ZI2 are connected to the router with a LAN cable. And the IP address is fixed by the MAC address on the router.　The two STMs have different IP addresses.

[yamati-kz]

It's a test report. When connecting mros2-host-examples (ubuntu 20.04 Foxy) with STM32, two logs are output to the serial log. [MROS2LIB] publisher matched with remote subscriber [MROS2LIB] subscriber matched with remote publisher

However, when trying to pub/sub between STM32s, these two logs do not appear.

--------- When connecting mros2-host-examples (ubuntu 20.04 Foxy) with STM32, two logs are output to the serial log. ------- mbed mros2 start! app name: echoback_string [MROS2LIB] mros2_init task start mROS 2 initialization is completed

[MROS2LIB] create_node [MROS2LIB] start creating participant [MROS2LIB] successfully created participant [MROS2LIB] create_publisher complete. [MROS2LIB] create_subscription complete. [MROS2LIB] Initilizing Domain complete ready to pub/sub message

publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 0' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 1' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 2' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 3' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 4' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 5' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 6' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 7' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 8' [MROS2LIB] publisher matched with remote subscriber publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 9' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 10' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 11' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 12' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 13' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 14' subscribed msg: 'Hello, world! 0' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 15' subscribed msg: 'Hello, world! 1' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 16' subscribed msg: 'Hello, world! 2' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 17' subscribed msg: 'Hello, world! 3' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 18' subscribed msg: 'Hello, world! 4' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 19' subscribed msg: 'Hello, world! 5' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 20' subscribed msg: 'Hello, world! 6' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 21' subscribed msg: 'Hello, world! 7' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 22' [MROS2LIB] subscriber matched with remote publisher subscribed msg: 'Hello, world! 8' publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 23'

[takasehideki]

@yamati-kz If we want multiple mros2 boards to communicate directly with each other, we need to set BASE_GUID_PREFIX to different values. This may be the same with #39 https://github.com/mROS-base/mros2-mbed/blob/main/include/rtps/config.h#L44

Actually, I have not tried this yet. However, this information was given to me by a cool engineer at eSol who developed the following demo, so I think it is a solid solution. Please try it out! https://twitter.com/takasehideki/status/1584488359808102402

[yamati-kz]

I tried, but direct communication with multiple mros2 boards was not successful. The value of BASE_GUID_PREFIX is unchanged for the first board. I set a different value for the second board.　Evaluated with mros2-mbed v0.5.4.

I tried setting it to a value like this. /mros2-mbed/platform/rtps/config.h // first board const GuidPrefix_t BASE_GUID_PREFIX{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12};

// second board const GuidPrefix_t BASE_GUID_PREFIX{21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32};

[yamati-kz]

I tried Publish directly from mros2-esp32 to mros2-esp-32, and Pub/Sub was successful. At this time, BASE_GUID_PREFIX has the same value. Evaluated with mros2-esp32 v0.5.3. I used ESP32-C6-DevKitC-1 and M5Stack Core2 ESP32 IoT Development Kit for AWS IoT Kit ESP-IDF v5.2.1, M5Unified 0.1.14, M5GFX