micro-ROS-Agent on ARM32v7 (Odroid XU4)

elgarbe commented 4 months ago

Hi, I need to use micro-ros-agent on docker on an ARM32v7. I build a docker image with ros2 humble from source, using it as base image, do I need to just follow the steps for build micro-ros-agent? (https://micro.ros.org/docs/tutorials/core/first_application_linux/) in a new dockerfile? don't you provide such an image, right?

pablogs9 commented 4 months ago

No we don't, the approach shall be to build the agent in the required platform

elgarbe commented 4 months ago

Ok, I managed to make an image with micro-ros-agent. It doesn't work as expected. I mean, it works but once connected to my custom board (stm32f777) I get this:

[35m[1709577566.071391][m [32minfo    [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [32mrunning...[m             | fd: 3
[35m[1709577566.073126][m [32minfo    [m | [34mRoot.cpp          [m | [37mset_verbose_level       [m | [32mlogger setup[m           | verbose_level: 6
[35m[1709577566.123838][m [32minfo    [m | [34mRoot.cpp          [m | [37mcreate_client           [m | [32mcreate[m                 | client_key: 0x7A6BA362, session_id: 0x81
[35m[1709577566.123967][m [32minfo    [m | [34mSessionManager.hpp[m | [37mestablish_session       [m | [32msession established[m    | client_key: 0x7A6BA362, address: 0
[35m[1709577566.124302][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[35m[1709577566.224730][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.225230][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.325752][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.326372][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.427721][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.428263][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.528770][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.529350][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.630760][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.631252][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.731791][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.732286][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.832684][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.833386][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.934704][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.935216][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577567.035780][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577567.036370][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577583.918916][m [32minfo    [m | [34mTermiosAgentLinux.cpp[m | [37mfini                    [m | [32mserver stopped[m         | fd: 3
[35m[1709577583.948241][m [31m[1merror   [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [31mopen device error[m      | device: /dev/ttyACM0, errno: 6
[35m[1709577583.969849][m [31m[1merror   [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [31mopen device error[m      | device: /dev/ttyACM0, errno: 6
[35m[1709577584.483926][m [31m[1merror   [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [31mopen device error[m      | device: /dev/ttyACM0, errno: 6
[35m[1709577584.986706][m [32minfo    [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [32mrunning...[m             | fd: 3
[35m[1709577585.487454][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.487834][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.488052][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.488327][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.488689][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 36, data: 
0000: 80 00 00 00 06 01 1C 00 00 0A FF FD 00 01 01 0D 58 52 43 45 01 00 01 0F 00 01 0D 00 01 00 00 00
0020: 00 00 00 00
[35m[1709577585.488827][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.489187][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 36, data: 
0000: 80 00 00 00 06 01 1C 00 00 0A FF FD 00 01 01 0D 58 52 43 45 01 00 01 0F 00 01 0D 00 01 00 00 00
0020: 00 00 00 00
[35m[1709577585.489611][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 36, data: 
0000: 80 00 00 00 06 01 1C 00 00 0A FF FD 00 01 01 0D 58 52 43 45 01 00 01 0F 00 01 0D 00 01 00 00 00
0020: 00 00 00 00
[35m[1709577585.490027][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 36, data: 
0000: 80 00 00 00 06 01 1C 00 00 0A FF FD 00 01 01 0D 58 52 43 45 01 00 01 0F 00 01 0D 00 01 00 00 00
0020: 00 00 00 00
[35m[1709577585.490249][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 68 7E 95 F7 81 00 FC 01
[35m[1709577585.490859][m [32minfo    [m | [34mRoot.cpp          [m | [37mdelete_client           [m | [32mdelete[m                 | client_key: 0x7A6BA362
[35m[1709577585.491354][m [32minfo    [m | [34mSessionManager.hpp[m | [37mdestroy_session         [m | [32msession closed[m         | client_key: 0x7A6BA362, address: 0
[35m[1709577585.491566][m [32minfo    [m | [34mRoot.cpp          [m | [37mcreate_client           [m | [32mcreate[m                 | client_key: 0x687E95F7, session_id: 0x81
[35m[1709577585.491763][m [32minfo    [m | [34mSessionManager.hpp[m | [37mestablish_session       [m | [32msession established[m    | client_key: 0x687E95F7, address: 0
[35m[1709577585.493070][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 36, data: 
0000: 80 00 00 00 06 01 1C 00 00 0A FF FD 00 01 01 0D 58 52 43 45 01 00 01 0F 00 01 0D 00 01 00 00 00
0020: 00 00 00 00
[35m[1709577585.493347][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[35m[1709577585.594292][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.594636][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577585.695384][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.695920][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577585.796389][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.796928][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577585.897369][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.898054][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577585.999428][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.999958][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577586.100380][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577586.100972][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577586.202297][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577586.203101][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577586.304295][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577586.304921][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577586.405261][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577586.405856][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
^C[ros2run]: Interrupt

On 1709577585.490859 I reset my board and then the connection is established again. In my board some object fail when I try to create them. Is there an easy way to debug the problem with this messages? BTW: In my embedded system I create a node two topics and two publishers.

elgarbe commented 4 months ago

The problem is trying to create the node. I'm debuging my firmware, but some times the node is created and then micro-ros-agent gives: imagen

I'm not sure what am I missing...

elgarbe commented 4 months ago

Ok, I isolate the problem. I moved from USB to UART in order to simplify communications. I moved from my source build in docker on Odroid XU4 to official docker image on my laptop. I use humble version of microros/micro_ros_static_library_builder in my embedded system. So I was trying with humble docker image getting "Not enough memory error" then I've tried with iron version and everything works just fine:

whats the difference between humble and iron docker image?

pablogs9 commented 4 months ago

You need to have the same ROS 2 distro in all parts of your system. Humble and Iron may not be intercompatible.

elgarbe commented 4 months ago

That's right, but I have used humble for the static library and humble for the agent and it doesn't work. Then changed to iron agent and it started working.

pablogs9 commented 4 months ago

Is there any Iron node in your ROS 2 dataspace while you are running micro-ROS Humble?

elgarbe commented 4 months ago

Is there any Iron node in your ROS 2 dataspace while you are running micro-ROS Humble?

No, I just trying to get micros-ros working right now.

pablogs9 commented 4 months ago

So in that case, I need a replicator to have the same error on my local setup.

elgarbe commented 4 months ago

I have a custom board based on stm32f777. I'm not sure how you can replicate it. If humble library with humble agent are working ok then I will try to find the problem here. I can try starting with an empty system installing just humble.

BTW USB transport define a 2048 buffer size. I have to increase to 4096 in order to get it working. I was having issue on the node creation function, after that change using USB is working just fine.

micro-ROS / micro-ROS-Agent

micro-ROS-Agent on ARM32v7 (Odroid XU4) #221