Micro-ros-Agent and esp32 ( WSL2 setup ) - Githubissues

micro-ROS / micro-ROS-Agent

ROS 2 package using Micro XRCE-DDS Agent.

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Micro-ros-Agent and esp32 ( WSL2 setup ) #194

Open JoelsonCRJ opened 1 year ago

JoelsonCRJ commented 1 year ago

Issue template

Hardware description: Dell Inspiron 15 (Ubuntu 20.04 wsl2)
RTOS: ESP32 Node MCU
Installation type: micro_ros_setup
Version or commit hash: foxy

Steps to reproduce the issue

Set the micro-ros credentials through the command "idf.py menuconfig";
Compile and flash the INT32_SUB_PUB example on esp32;

In the Ubuntu 20.04 wsl2 Host machine:

Windows 11 side:
- Open the windows power shell as admin user and type: "netsh interface portproxy add v4tov4 listenport=8888 listenaddress=0.0.0.0 connectport=8888 connectaddress="
- Go to the firewall and create a new inbound rule for port 8888 ;
- Ubuntu 20.04 wsl2 side:
- install the micro-ROS package and dependencies following this tutorial: https://micro.ros.org/docs/tutorials/core/first_application_linux/
- run the micro_ros_agent: "ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888"
  Expected behavior
  
  I was expecting the same behavior when use a native linux machine: the esp32 finding the ros agent and publishing messages over ros2.
  
  Actual behavior
  
  Esp32 tries to connect to the ros agent but it is not finding it and eventually i get this message on the esp32 monitor: "Failed status on line 57: 1. Aborting".
  
  Additional information

Sebski123 commented 12 months ago

Currently netsh portproxy doesn't support UDP which is used for microROS agent communication. This is an active issue in the WSL repo: https://github.com/microsoft/WSL/issues/4150

My current workaround is to have the agent running in a separate Linux VM (VirtualBox) using a bridged network adapter