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micro-ROS / micro-ROS-Agent

ROS 2 package using Micro XRCE-DDS Agent.
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The agent node did not recognize the disconnection to the MCU. #174

Closed Interactics closed 1 year ago

Interactics commented 1 year ago

Issue template

Steps to reproduce the issue

Can't reproduce the issue. sometimes it occrued.

When micro-ROS subscribing to geometry_msg/msg/point, it sometimes lost connection.

Expected behavior

When the MCU board is disconnected, the agent node must also be disconnected.

Actual behavior

However, Agent node is mistaken Nucleo Board for being connecting. So, it does not attempt the reconnect process.

When I tested it with STM IDE debugger, Agent Node is still connecting but Nucleo board's connection condition is in WAITING_AGENT.

Additional information

MicroROS

What I want to know is, how do agent knows that connection is lost?

pablogs9 commented 1 year ago

The agent won't remove the created entities by default. In fact, the agent won't assume that the client connection is lost because maybe the client is just in a deep sleep mode for example.

If you need to force this behavior, you need to build the client enabling this flag.

Interactics commented 1 year ago

The agent won't remove the created entities by default. In fact, the agent won't assume that the client connection is lost because maybe the client is just in a deep sleep mode for example.

If you need to force this behavior, you need to build the client enabling this flag.

Thank you for your quick reply. I'll apply it and let you know the result.

Interactics commented 1 year ago

Sorry for the late reply.

It works for me. So I leave the STM32 resolution procedure for STM32 users who have the same problem as me.

In my case, I builded a Nucleo Board using micro_ros_stm32cubemx_utils

To change UCLIENT_HARD_LIVELINESS_CHECK in Micro-XRCE-DDS-Client CMakeLists.txt, I added "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON" in micro_ros_stm32cubemx_utils/microros_static_library/library_generation/colcon.meta

        "microxrcedds_client": {
            "cmake-args": [
                "-DUCLIENT_PIC=OFF",
                "-DUCLIENT_PROFILE_UDP=OFF",
                "-DUCLIENT_PROFILE_TCP=OFF",
                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
                "-DUCLIENT_PROFILE_SERIAL=OFF",
                "-UCLIENT_PROFILE_STREAM_FRAMING=ON",
                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON",
                "-DUCLIENT_HARD_LIVELINESS_CHECK=ON" // I added!
            ]
        },

This is my result.

[1663298134.744854] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x2C45D82E, subscriber_id: 0x004(4), participant_id: 0x000(1)
[1663298134.751199] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x2C45D82E, datareader_id: 0x004(6), subscriber_id: 0x004(4)
[1663298147.161007] info     | Root.cpp           | delete_client            | delete                 | client_key: 0x2C45D82E
[1663298147.161063] info     | SessionManager.hpp | destroy_session          | session closed         | client_key: 0x2C45D82E, address: 0
[1663298147.161070] info     | Processor.cpp      | check_heartbeats         | Session destroyed due to liveliness timeout | client_key: 0x2C45D82E, address: 0  
# Above message is created when connection is lost

And the reconnection works very well.

Thank you