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micro-ROS / micro_ros_arduino

micro-ROS library for Arduino
Apache License 2.0
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Laserscan message Best Effort QOS not working #1716

Open Tiim12312 opened 5 months ago

Tiim12312 commented 5 months ago

Using esp32 dev module with Ros2 iron.

Steps to reproduce the issue

I can create laserscan publishers no problem and correctly publish messages. However this only works with QOS reliable settings. If I only change to best effort QOS it will compile and run but nothing gets published. Again I change nothing else on this correctly working published other then the QOS. I can make best effort QOS publishers for other message types no problem, it's only laserscan that is the issue.

Expected behavior

Should be able to use best effort with laserscan like other message types.

pablogs9 commented 5 months ago

Micro XRCE-DDS Best effort streams limit message size to configured MTU as it does not handle fragmentation. Probable your laserscan message are bigger than the configured MTU.

You can increase it in colcon.meta and rebuild the library. More details about MTU handling here: https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/memory_management/memory_management.html#middleware-related-memory

Tiim12312 commented 5 months ago

Ah that makes complete sense, so if I was using UDP would I set it in this section of the cmake like this?

"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" "-UCLIENT_UDP_TRANSPORT_MTU=1024" ] },

Or should it go in this section?

"rmw_microxrcedds": { "cmake-args": [ "-DRMW_UXRCE_MAX_NODES=1", "-DRMW_UXRCE_MAX_PUBLISHERS=10", "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5", "-DRMW_UXRCE_MAX_SERVICES=1", "-DRMW_UXRCE_MAX_CLIENTS=1", "-DRMW_UXRCE_MAX_HISTORY=4", "-DRMW_UXRCE_TRANSPORT=custom" ] }

I apologize, I don't know the structure of the system fully yet. Thank you!!

pablogs9 commented 5 months ago

It is explained here: https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/memory_management/memory_management.html#id1

Tiim12312 commented 5 months ago

Okay thank you! I will give that a try, I appreciate your help.