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micro-ROS / freertos_apps

Sample applications for FreeRTOS + micro-ROS
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UDP transport fails after some time #40

Closed cocodmdr closed 3 years ago

cocodmdr commented 3 years ago

Hello,

I am using microROS since two months now and I noticed some strange behaviour.

I am running the ping_pong example with freeRTOS on olimex board. I am using UDP transport connection.

Everything runs fines in the beginning, however after some time it fails : no more ping are sent and the onboard LED does not blink anymore.

Using ros2 topic echo /microROS/ping I could see that it fails at arbitrary times.

I ran the test 12 times, here are the times in seconds at witch it failled : 111s, 209s, 148s, 248s, 295s, 141s, 243s, 203s, 73s, 97s, 311s, 95s

I tried also this demo in a private network with fixed IP addresses ( I changed the lwip.h file to fix the IP instead of using DHCP) but I get the same problem.

pablogs9 commented 3 years ago

Let us some time to test this.

Is this a new behavior or you have been seeing it all the time?

cocodmdr commented 3 years ago

I have only tested this on the ping_pong demo and on my custom application which is based on ping_pong

pablogs9 commented 3 years ago

But you have had this error the two months that you have been using micro-ROS or it has suddenly appeared last week?

cocodmdr commented 3 years ago

No since the beggining I started learning microROS. I should have reported it sooner.

pablogs9 commented 3 years ago

Hello @cocodmdr, I'm back. I have testin micro-ROS + FreeRTOS + Olimex and I found that some defines were outdated and also that the task stack that was defined I now quite few.

I have had a problem when building with the old configuration but with the changes proposed here it seems to work ok. Tomorrow I will do a long term test and I will do more improvements.

pablogs9 commented 3 years ago

Hello @cocodmdr, I have found something.

Debugging with JTAG I have found that the RTOS get stuck in this line. The point is that this is something related to FreeRTOS + STMCubeMX and the network stack. Some other users have found the same issue: check here and here.

It is possible to bypass this assert by modifying this line to something like:

/* USER CODE BEGIN 1 */
// #define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );} 
#define configASSERT( x )
/* USER CODE END 1 */

This way I have been running micro-ROS for almost an hour. But I think that disabling asserts is not the point, so I'm going to investigate more to see if there is any "proper" way of solving this.

Regarding your other issue: https://github.com/micro-ROS/freertos_apps/issues/41. I think that is the same problem so maybe we can close the other and use this one to have a discussion.

Please let us know if you find any solution.

cocodmdr commented 3 years ago

Hello,

Thank you very much for your help ! So far it seems to work quite well, tomorrow I will try to make it run the whole day !

Regarding the other issue I will also try tomorrow to use printf to serial on uart 6 and with transport serial on uart3.

Regards,

pablogs9 commented 3 years ago

Any update on this? Can we close?

cocodmdr commented 3 years ago

yes, I have not had other issues with udp transport

ZhenshengLee commented 2 years ago

Thank you very much for your help ! So far it seems to work quite well, tomorrow I will try to make it run the whole day !

Hi @cocodmdr

Friendly ping. I've met the same problem here in #96 Did you solve this issue?