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micro-ROS / micro-ROS-Agent

ROS 2 package using Micro XRCE-DDS Agent.
Apache License 2.0
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Topic Not Visible error #209

Open RaghuRamaBL opened 8 months ago

RaghuRamaBL commented 8 months ago

Issue template

Create a workspace and download the micro-ROS tools

mkdir microros_ws cd microros_ws git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

Update dependencies using rosdep

sudo apt update && rosdep update rosdep install --from-paths src --ignore-src -y

Install pip

sudo apt-get install python3-pip

Build micro-ROS tools and source them

colcon build source install/local_setup.bash

Create step

ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32

Configure step with ping_pong app and serial transport

ros2 run micro_ros_setup configure_firmware.sh ping_pong --transport serial

I followed all these steps no issues till now

Build step

ros2 run micro_ros_setup build_firmware.sh

when i executed command in between it shows as "colcon build stderr output" later it will complete the execution without any error 100% build target app.

Flash step

ros2 run micro_ros_setup flash_firmware.sh

Download micro-ROS-Agent packages

ros2 run micro_ros_setup create_agent_ws.sh

Build step

ros2 run micro_ros_setup build_agent.sh

while executing this line it gives

$ ros2 run micro_ros_setup build_agent.sh source install/local_setup.bash Building micro-ROS Agent Starting >>> micro_ros_msgs Finished <<< micro_ros_msgs [6.49s]
Starting >>> micro_ros_agent [Processing: micro_ros_agent]
--- stderr: micro_ros_agent
Cloning into 'xrceagent'... Switched to a new branch 'ros2' HEAD is now at 2cbbc4a Fix deserialization endianness (#336) CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message): The package name passed to find_package_handle_standard_args (tinyxml2) does not match the name of the calling package (TinyXML2). This can lead to problems in calling code that expects find_package result variables (e.g., _FOUND) to follow a certain pattern. Call Stack (most recent call first): cmake/modules/FindTinyXML2.cmake:40 (find_package_handle_standard_args) /opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:51 (find_package) CMakeLists.txt:153 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

Finished <<< micro_ros_agent [53.1s]

Summary: 2 packages finished [1min 1s] 1 package had stderr output: micro_ros_agent

source install/local_setup.bash

Run a micro-ROS agent

$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/serial/by-id/usb-Silicon_Labs_CP2102N_USB_to_UART_Bridge_Controller_8484ebb7cd24ec11ad45dd31b659684c-if00-port0 executes correctly

[1697617695.989983] info | TermiosAgentLinux.cpp | init | running... | fd: 3 [1697617695.990224] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 [1697617697.966921] info | Root.cpp | create_client | create | client_key: 0x78DB3FD8, session_id: 0x81 [1697617697.967054] info | SessionManager.hpp | establish_session | session established | client_key: 0x78DB3FD8, address: 0 [1697617697.994969] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x78DB3FD8, participant_id: 0x000(1) [1697617698.013419] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x78DB3FD8, topic_id: 0x000(2), participant_id: 0x000(1) [1697617698.026173] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x78DB3FD8, publisher_id: 0x000(3), participant_id: 0x000(1) [1697617698.039648] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x78DB3FD8, datawriter_id: 0x000(5), publisher_id: 0x000(3) [1697617698.057389] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x78DB3FD8, topic_id: 0x001(2), participant_id: 0x000(1) [1697617698.069736] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x78DB3FD8, publisher_id: 0x001(3), participant_id: 0x000(1) [1697617698.083964] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x78DB3FD8, datawriter_id: 0x001(5), publisher_id: 0x001(3) [1697617698.101279] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x78DB3FD8, topic_id: 0x002(2), participant_id: 0x000(1) [1697617698.114001] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x78DB3FD8, subscriber_id: 0x000(4), participant_id: 0x000(1) [1697617698.128575] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x78DB3FD8, datareader_id: 0x000(6), subscriber_id: 0x000(4) [1697617698.148276] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x78DB3FD8, topic_id: 0x003(2), participant_id: 0x000(1) [1697617698.160762] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x78DB3FD8, subscriber_id: 0x001(4), participant_id: 0x000(1) [1697617698.175174] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x78DB3FD8, datareader_id: 0x001(6), subscriber_id: 0x001(4)

In another terminal if i run source /opt/ros/$ROS_DISTRO/setup.bash

Subscribe to micro-ROS ping topic

ros2 topic echo /microROS/ping

ros2 topic echo /microROS/ping WARNING: topic [/microROS/ping] does not appear to be published yet Could not determine the type for the passed topic

I have gone through Domail ID and set it to even 0 then also i am getting the same result. I even refered this and other links regarding the same https://github.com/micro-ROS/micro_ros_arduino/issues/21

This line also gets exicuited correctly code gets uploaded to the board.

Expected behavior

You should see the topic messages published by the Ping Pong node every 5 seconds:

user@user:~$ ros2 topic echo /microROS/ping stamp: sec: 20 nanosec: 867000000 frame_id: '1344887256_1085377743'

stamp: sec: 25 nanosec: 942000000 frame_id: '730417256_1085377743' ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32

Actual behavior

WARNING: topic [/microROS/ping] does not appear to be published yet Could not determine the type for the passed topic

Additional information

pablogs9 commented 8 months ago

Could you share your micro-ROS Agent output with the flag -v6 ?

RaghuRamaBL commented 8 months ago 
aghurama@raghurama-Latitude-5490:~/microros_ws$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/serial/by-id/usb-Silicon_Labs_CP2102N_USB_to_UART_Bridge_Controller_8484ebb7cd24ec11ad45dd31b659684c-if00-port0 -v6
[1697868513.201535] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1697868513.201753] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1697868527.599355] info     | Root.cpp           | create_client            | create                 | client_key: 0x796283A4, session_id: 0x81
[1697868527.599396] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x796283A4, address: 0
[1697868527.599522] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1697868527.612081] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, 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 A5 A5 0E 00 00 00 70 69 6E 67
0020: 70 6F 6E 67 5F 6E 6F 64 65 00 00 00
[1697868527.637552] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x796283A4, participant_id: 0x000(1)
[1697868527.637670] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1697868527.637708] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1697868527.649675] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1697868527.655242] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, 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 00 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
[1697868527.655354] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x796283A4, topic_id: 0x000(2), participant_id: 0x000(1)
[1697868527.655432] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 02 00 00
[1697868527.655450] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1697868527.667195] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1697868527.667222] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, 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
[1697868527.667300] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x796283A4, publisher_id: 0x000(3), participant_id: 0x000(1)
[1697868527.667362] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 03 00 00
[1697868527.667380] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1697868527.680036] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1697868527.680065] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, 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 00 03 00 01 3F 0A 00 00 00
0020: 00 00 00 03
[1697868527.680385] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x796283A4, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1697868527.680436] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 05 00 00
[1697868527.680455] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1697868527.691722] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1697868527.697270] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 80, data: 
0000: 81 80 04 00 01 07 47 00 00 0E 00 12 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 6F 6E 67 00 00 01 3F 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
[1697868527.697357] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x796283A4, topic_id: 0x001(2), participant_id: 0x000(1)
[1697868527.697421] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 14, data: 
0000: 81 80 04 00 05 01 06 00 00 0E 00 12 00 00
[1697868527.697439] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1697868527.709151] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1697868527.709179] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 24, data: 
0000: 81 80 05 00 01 07 10 00 00 0F 00 13 03 03 00 00 02 00 00 00 00 00 00 01
[1697868527.709237] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x796283A4, publisher_id: 0x001(3), participant_id: 0x000(1)
[1697868527.709302] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 14, data: 
0000: 81 80 05 00 05 01 06 00 00 0F 00 13 00 00
[1697868527.709318] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1697868527.721945] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1697868527.721970] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 36, data: 
0000: 81 80 06 00 01 07 1C 00 00 10 00 15 05 03 00 00 0E 00 00 00 00 12 01 00 02 00 01 3F 05 00 00 00
0020: 00 00 00 13
[1697868527.722380] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x796283A4, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1697868527.722450] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 14, data: 
0000: 81 80 06 00 05 01 06 00 00 10 00 15 00 00
[1697868527.722475] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1697868527.733681] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1697868527.739241] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x796283A4, len: 80, data: 
0000: 81 80 07 00 01 07 47 00 00 11 00 22 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 00 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

This was the result

RaghuRamaBL commented 8 months ago

one doubt may i know what is the significance of the -v6 flag i am new to ros

pablogs9 commented 8 months ago

It is setting a verbosity to max level. Is this the whole log or there are more lines?

RaghuRamaBL commented 8 months ago

It is setting a verbosity to max level. Is this the whole log or there are more lines?

It was repeating there were more line

pablogs9 commented 8 months ago

In any case, the way to go when using ESP32-based boards is the micro-ROS Component for IDF: https://github.com/micro-ROS/micro_ros_espidf_component

Could you give it a try and report if the same error happens?

RaghuRamaBL commented 8 months ago

In any case, the way to go when using ESP32-based boards is the micro-ROS Component for IDF: https://github.com/micro-ROS/micro_ros_espidf_component

Could you give it a try and report if the same error happens?

Hi thanks for the reply I am new to ros can i get any steps to proceed so that i can try using repository that you have suggested Should i follow same as what i was doing previously but in the place if micro_ros_setup do i need to change it to micro_ros_espidf_component ? I tried testing the int 32 publisher example from website it doesn't seem to work