Esp32 does not create a parameter and action server

[shanmugamIoT]

Issue template

• Hardware description: ESP32
• Installation type:github,linux command line
• Version or commit hash: humble

i use in esp32 as a hardware upload a code with arduino ide and connect a micro_ros_agent via wifi transport.I successfully run a publisher and subscriber nodes and service nodes also but i cant to create a parameter and server in esp32.I have no idea about the error so please help anyone

source code and error is given below

#include <micro_ros_arduino.h>

#include <stdio.h>
#include <unistd.h>
#include <pthread.h>

#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>

#include <example_interfaces/action/fibonacci.h>

#define RCCHECK(fn) \
  { \
    rcl_ret_t temp_rc = fn; \
    if ((temp_rc != RCL_RET_OK)) { printf( \
      "Failed status on line %d: %d. Aborting.\n", __LINE__, (int)temp_rc); } \
  }
#define RCSOFTCHECK(fn) \
  { \
    rcl_ret_t temp_rc = fn; \
    if ((temp_rc != RCL_RET_OK)) { printf( \
      "Failed status on line %d: %d. Continuing.\n", __LINE__, (int)temp_rc); } \
  }

#define MAX_FIBONACCI_ORDER 500
bool goal_completed = false;
int goal_order = 10;

rclc_executor_t executor;

void goal_request_callback(rclc_action_goal_handle_t *goal_handle, bool accepted, void *context) {
  (void)context;

  example_interfaces__action__Fibonacci_SendGoal_Request *request =
    (example_interfaces__action__Fibonacci_SendGoal_Request *)goal_handle->ros_goal_request;
  printf(
    "Goal request (order: %d): %s\n",
    request->goal.order,
    accepted ? "Accepted" : "Rejected");

  if (!accepted) {
    goal_completed = true;
  }
}

void feedback_callback(rclc_action_goal_handle_t *goal_handle, void *ros_feedback, void *context) {
  (void)context;

  example_interfaces__action__Fibonacci_SendGoal_Request *request =
    (example_interfaces__action__Fibonacci_SendGoal_Request *)goal_handle->ros_goal_request;

  printf(
    "Goal Feedback (order: %d) [",
    request->goal.order);

  example_interfaces__action__Fibonacci_FeedbackMessage *feedback =
    (example_interfaces__action__Fibonacci_FeedbackMessage *)ros_feedback;

  for (size_t i = 0; i < feedback->feedback.sequence.size; i++) {
    printf("%d ", feedback->feedback.sequence.data[i]);
  }
  printf("\b]\n");
}

void result_request_callback(
  rclc_action_goal_handle_t *goal_handle, void *ros_result_response,
  void *context) {
  (void)context;

  static size_t goal_count = 1;

  example_interfaces__action__Fibonacci_SendGoal_Request *request =
    (example_interfaces__action__Fibonacci_SendGoal_Request *)goal_handle->ros_goal_request;

  printf(
    "Goal Result (order: %d) [",
    request->goal.order);

  example_interfaces__action__Fibonacci_GetResult_Response *result =
    (example_interfaces__action__Fibonacci_GetResult_Response *)ros_result_response;

  if (result->status == GOAL_STATE_SUCCEEDED) {
    for (size_t i = 0; i < result->result.sequence.size; i++) {
      printf("%d ", result->result.sequence.data[i]);
    }
  } else if (result->status == GOAL_STATE_CANCELED) {
    printf("CANCELED ");
  } else {
    printf("ABORTED ");
  }

  printf("\b]\n");

  goal_completed = true;
}

void cancel_request_callback(
  rclc_action_goal_handle_t *goal_handle, bool cancelled,
  void *context) {
  (void)context;

  example_interfaces__action__Fibonacci_SendGoal_Request *request =
    (example_interfaces__action__Fibonacci_SendGoal_Request *)goal_handle->ros_goal_request;

  printf(
    "Goal cancel request (order: %d): %s\n",
    request->goal.order,
    cancelled ? "Accepted" : "Rejected");

  if (cancelled) {
    goal_completed = true;
  }
}

void setup() {
  // put your setup code here, to run once:
  set_microros_wifi_transports("Kevell-iot","Enter@123","10.10.11.78",8888);
  Serial.begin(115200);
  Serial.println("Starting....");

  rcl_allocator_t allocator = rcl_get_default_allocator();

  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
  rcl_init_options_init(&init_options, allocator);
  rcl_init_options_set_domain_id(&init_options, 10);

  rclc_support_t support;

  rcl_ret_t rf = rclc_support_init_with_options(&support, 0, NULL,&init_options, &allocator);
  if(rf!=RCL_RET_OK)
  {
    Serial.println("support not create");
  }
  else
  {
    Serial.println("support created successfully...");
  }
  rcl_node_t node;
  rcl_ret_t rc=rclc_node_init_default(&node, "fibonacci_action_client_rcl", "", &support);
  if(rc!=RCL_RET_OK)
  {
    Serial.println("node did not create");
  }
  else
  {
    Serial.println("node created successfully...");
  }

  rclc_action_client_t action_client;
  rcl_ret_t rb=rclc_action_client_init_default(
      &action_client,
      &node,
      ROSIDL_GET_ACTION_TYPE_SUPPORT(example_interfaces, Fibonacci),
      "fibonacci");

  if(rb!=RCL_RET_OK)
  {
    Serial.println("action did not create....");
    Serial.println(rb);
  }
  else
  {
    Serial.println("action created successfully....");
  }    

  rclc_executor_init(&executor, &support.context, 1, &allocator);

  example_interfaces__action__Fibonacci_FeedbackMessage ros_feedback;
  example_interfaces__action__Fibonacci_GetResult_Response ros_result_response;
  example_interfaces__action__Fibonacci_SendGoal_Request ros_goal_request;

  ros_feedback.feedback.sequence.capacity = MAX_FIBONACCI_ORDER;
  ros_feedback.feedback.sequence.size = 0;
  ros_feedback.feedback.sequence.data = (int32_t *)malloc(
    ros_feedback.feedback.sequence.capacity * sizeof(int32_t));

  ros_result_response.result.sequence.capacity = MAX_FIBONACCI_ORDER;
  ros_result_response.result.sequence.size = 0;
  ros_result_response.result.sequence.data = (int32_t *)malloc(
    ros_result_response.result.sequence.capacity * sizeof(int32_t));

  RCCHECK(
    rclc_executor_add_action_client(
      &executor,
      &action_client,
      10,
      &ros_result_response,
      &ros_feedback,
      goal_request_callback,
      feedback_callback,
      result_request_callback,
      cancel_request_callback,

      (void *)&action_client));

  sleep(2);
  ros_goal_request.goal.order = goal_order;
  RCCHECK(rclc_action_send_goal_request(&action_client, &ros_goal_request, NULL));

  while (!goal_completed) {
    rclc_executor_spin_some(&executor, RCL_MS_TO_NS(10));
    usleep(100000);
  }

  RCCHECK(rclc_action_client_fini(&action_client, &node))
  RCCHECK(rcl_node_fini(&node))

  return 0;
}

void loop() 
{
  // put your main code here, to run repeatedly:
    rcl_ret_t rv=rclc_executor_spin_some(&executor, RCL_MS_TO_NS(10));
    usleep(100000);
    if(rv!=RCL_RET_OK)
    {
      Serial.println("execute did not happen");
    }
    else
    {
      Serial.println("excute happen....");
    }
}

above source code give a run time error

error : action did not create and error code of rcl_ret_t = 1

[Asd2gogo]

I face the same issue with my ESP32. Have you found any solution to this problem?

[hippo5329]

It was written in the beginning of README. "However, users can rebuild their own precompiled libraries in order to modify the micro-ROS configuration or RMW parameters by customizing the respective .meta file."

You will need to customize middle ware configuration with custom meta. The default value is too low to run action server.

            "-DRMW_UXRCE_MAX_PUBLISHERS=10",
            "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5",
            "-DRMW_UXRCE_MAX_SERVICES=1",

For arduino ide, you will need to regenerate the library.

For platformio, https://github.com/micro-ROS/micro_ros_platformio?tab=readme-ov-file#other-configuration

[Asd2gogo]

@hippo5329 do you know where to find a specification what the requirements are to create i.e. an action server / action clients etc ?

[hippo5329]

@Asd2gogo

The default micro-ROS middleware memory allocation is very limited because most micro-controllers have limited memory.

Each ros2 action server needs three services. To run ros2 action servers, you will need to increase middle ware configuration with custom meta. Below is a sample meta as action.meta. You may add this with "board_microros_user_meta = action.meta" to board configuration in platformio.ini.

{
    "names": {
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=15",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=15",
                "-DRMW_UXRCE_MAX_SERVICES=10",
                "-DRMW_UXRCE_MAX_CLIENTS=10",
                "-DRMW_UXRCE_MAX_HISTORY=10",
            ]
        }
    }
}

[hippo5329]

https://github.com/hippo5329/linorobot2_hardware/commit/a0d831ecfead644c037fbe93d359bef6fb0df3c6

[hippo5329]

I added "meta", "add two int service demo" and "Fibonacci action servo demo" to my repo and wiki. You may try with an esp32 module.

https://github.com/hippo5329/linorobot2_hardware/wiki#increase-middleware-memory-allocation

[shanmugamIoT]

Thanks for a comment @hippo5329 .but i change the colcon.meta data file but the esp32 does not create a action server and how to regenerate a library ? In above case i was first delete a library file and install a new micro_ros_arduino (humble ) zip file and make a changes in colcon.meta file then save it and upload a arduino ide.but the action server does not create so give me a some suggestion

[hippo5329]

May I suggest platformio/vscode instead of arduino ide? The platformio/vscode is a lot better than the arduino ide. You may port the arduino project to platformio easily. I didn't use arduino ide for a while.

[hippo5329]

Seriously, when you need custom meta and custom msgs (extra packages), you should switch to platformio.

[shanmugamIoT]

@hippo5329 Thank you for your help. I will try that.