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micro-ROS / micro-ROS-Agent

ROS 2 package using Micro XRCE-DDS Agent.
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Run micro-ros-agent but no node and msg #203

Closed Junming-Liang closed 1 year ago

Junming-Liang commented 1 year ago

Issue template

Steps to reproduce the issue

Following the official example instructions, I'm trying to run the pingpong example. When I run the command ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0, the terminal output seems to be normal (full output in the Additional Information section below), the serial port is blinking with data outputs, yet I cannot see any nodes or messages in ROS.

Expected behavior

Expected to see nodes and messages in ROS when running the pingpong example.

Actual behavior

No nodes or messages appear in ROS even though the terminal output seems to be normal and the serial port is blinking with data outputs.

Additional information

Terminal output:

$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 
[1691655948.255286] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1691655948.255633] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1691655957.357919] info     | Root.cpp           | create_client            | create                 | client_key: 0x37218F85, session_id: 0x81
[1691655957.358069] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x37218F85, address: 0
[1691655957.381921] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x37218F85, participant_id: 0x000(1)
[1691655957.396572] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x37218F85, topic_id: 0x000(2), participant_id: 0x000(1)
[1691655957.405984] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x37218F85, publisher_id: 0x000(3), participant_id: 0x000(1)
[1691655957.416498] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x37218F85, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1691655957.431244] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x37218F85, topic_id: 0x001(2), participant_id: 0x000(1)
[1691655957.440660] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x37218F85, publisher_id: 0x001(3), participant_id: 0x000(1)
[1691655957.450924] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x37218F85, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1691655957.465664] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x37218F85, topic_id: 0x002(2), participant_id: 0x000(1)
[1691655957.474996] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x37218F85, subscriber_id: 0x000(4), participant_id: 0x000(1)
[1691655957.485772] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x37218F85, datareader_id: 0x000(6), subscriber_id: 0x000(4)
[1691655957.502091] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x37218F85, topic_id: 0x003(2), participant_id: 0x000(1)
[1691655957.511964] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x37218F85, subscriber_id: 0x001(4), participant_id: 0x000(1)
[1691655957.523983] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x37218F85, datareader_id: 0x001(6), subscriber_id: 0x001(4)
pablogs9 commented 1 year ago

Paste here the micro-ROS Agent log running with the flag -v6

Have you tried to use ROS 2 Iron? Since ROS 2 Foxy is deprecated.

Are you using any specific ROS_DOMAIN?

Which is the output of ros2 topic list?

Junming-Liang commented 1 year ago

Paste here the micro-ROS Agent log running with the flag -v6

Have you tried to use ROS 2 Iron? Since ROS 2 Foxy is deprecated.

Are you using any specific ROS_DOMAIN?

Which is the output of ros2 topic list?

Thank you very much for your prompt reply. Here is the output using -v6 as a flag:

$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 -v6
[1691657384.718806] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1691657384.719092] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1691657394.224720] info     | Root.cpp           | create_client            | create                 | client_key: 0x37218F85, session_id: 0x81
[1691657394.224866] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x37218F85, address: 0
[1691657394.225117] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x37218F85, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1691657394.235004] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x37218F85, len: 44, data: 
0000: 81 80 00 00 01 07 24 00 00 0A 00 01 01 03 00 00 16 00 00 00 00 01 02 08 0E 00 00 00 70 69 6E 67
0020: 70 6F 6E 67 5F 6E 6F 64 65 00 00 00
[1691657394.248009] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x37218F85, participant_id: 0x000(1)
[1691657394.248077] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x37218F85, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1691657394.248089] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x37218F85, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1691657394.254114] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x37218F85, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1691657394.262931] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x37218F85, len: 80, data: 
0000: 81 80 01 00 01 07 47 00 00 0B 00 02 02 03 00 00 39 00 00 00 11 00 00 00 72 74 2F 6D 69 63 72 6F
0020: 52 4F 53 2F 70 69 6E 67 00 00 01 20 1D 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64
0040: 64 73 5F 3A 3A 48 65 61 64 65 72 5F 00 00 01 00
[1691657394.263050] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x37218F85, topic_id: 0x000(2), participant_id: 0x000(1)
[1691657394.263113] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x37218F85, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 02 00 00
[1691657394.263127] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x37218F85, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1691657394.268760] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x37218F85, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1691657394.272451] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x37218F85, len: 24, data: 
0000: 81 80 02 00 01 07 10 00 00 0C 00 03 03 03 00 00 02 00 00 00 00 00 00 01
[1691657394.272542] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x37218F85, publisher_id: 0x000(3), participant_id: 0x000(1)
[1691657394.272586] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x37218F85, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 03 00 00
[1691657394.272607] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x37218F85, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1691657394.277725] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x37218F85, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1691657394.282789] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x37218F85, len: 36, data: 
0000: 81 80 03 00 01 07 1C 00 00 0D 00 05 05 03 00 00 0E 00 00 00 00 02 01 20 03 00 01 20 0A 00 00 00
0020: 00 00 00 03
[1691657394.283471] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x37218F85, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1691657394.283607] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x37218F85, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 05 00 00
[1691657394.283664] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x37218F85, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1691657394.289436] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x37218F85, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80

I am using Ubuntu 20.04 and my existing project is built on the Foxy version, so it is not feasible for me to switch to the Iron version in a short time. I indeed set a special ROS_DOMAIN_ID, here is the content in my ~/.zshrc:

export ROS_DOMAIN_ID=117

Here are my rostopic and rosnode:

$ ros2 topic list               
/clicked_point
/control/vehicle_control_command
/ego_pose
/goal_pose
/initialpose
/parameter_events
/planning/target_path_marker
/poses_record
/rosout
/rviz/car_marker
/rviz/car_marker_array
/tf
/tf_static
$ ros2 node list
/rviz
/transform_listener_impl_55f853cf96e0

I am very much looking forward to your reply. This problem has troubled me for a long time. Thank you once again.

Junming-Liang commented 1 year ago

Something I forgot, I changed the app-colcon.meta from:

    "names": {
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=2",
                "-DRMW_UXRCE_MAX_PUBLISHERS=2",
...

to:

    "names": {
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=1",
pablogs9 commented 1 year ago

You see to set the domain ID in the micro-ROS code, just like this: https://github.com/micro-ROS/micro-ROS-demos/blob/ea56acfc45f1cc971a15d4a50e3e59b3dbe1f749/rclc/configuration_example/configured_publisher/main.c#L46-L50

pablogs9 commented 1 year ago

Also it is possible to use the Domain ID 255 on the micro-ROS client side and then use the environment variable UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV in the agent side, just check this: https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/333/files

Junming-Liang commented 1 year ago

I am extremely grateful to you. With your guidance, I have successfully received the topic in ROS. The specific problem is consistent with your analysis - the Agent class did not successfully obtain the domain_id from the environment variable and defaulted to 0. After changing the domain_id to 0 in my ~/.zshrc：

export ROS_DOMAIN_ID=0

I was able to receive the corresponding topic normally. 

ros2 node list 
/pingpong_node

While it seems there might be a more permanent solution, I can't think of a better one at the moment. I'll use 0 as my domain_id for now. Thank you once again.

russkel commented 11 months ago

Is there a way we can override this on the Agent side? We have agents running in containers that may have any ROS_DOMAIN_ID and we have no good way of setting this on the client side.

russkel commented 11 months ago

@KyleJewiss