After isolating micro ROS topics, the data is not being published

[Muthukumar4796]

Device - Arduino Due

After isolate the micro ros topic using,(this is taken by micro ros tutorials)

/ Initialize micro-ROS allocator rcl_allocator_t allocator = rcl_get_default_allocator();

// Initialize and modify options (Set DOMAIN ID to 10) 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);

// Initialize rclc support object with custom options rclc_support_t support; rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);

The micro ROS topic is not publishing. How can I resolve this issue? I have shared my code and attached screenshot for reference

include

include

include <rcl/rcl.h>

include <rcl/error_handling.h>

include <rclc/rclc.h>

include <rclc/executor.h>

include <std_msgs/msg/int32.h>

rcl_publisher_t publisher; std_msgsmsgInt32 msg; rclc_executor_t executor; rclc_support_t support; rcl_allocator_t allocator; rcl_node_t node; rcl_timer_t timer;

define LED_PIN 13

define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}

define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}

void error_loop(){ while(1){ digitalWrite(LED_PIN, !digitalRead(LED_PIN)); delay(100); } }

void timer_callback(rcl_timer_t * timer, int64_t last_call_time) {
RCLC_UNUSED(last_call_time); if (timer != NULL) { RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL)); msg.data++; } }

void setup() { set_microros_transports();

pinMode(LED_PIN, OUTPUT); digitalWrite(LED_PIN, HIGH);

delay(2000);

allocator = rcl_get_default_allocator();

// Initialize micro-ROS allocator rcl_allocator_t allocator = rcl_get_default_allocator();

// Initialize and modify options (Set DOMAIN ID to 7) 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, 7);

// Initialize rclc support object with custom options rclc_support_t support; rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);

// create node RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_node", "", &support));

// create publisher RCCHECK(rclc_publisher_init_default( &publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "micro_ros_arduino_node_publisher"));

// create timer, const unsigned int timer_timeout = 1000; RCCHECK(rclc_timer_init_default( &timer, &support, RCL_MS_TO_NS(timer_timeout), timer_callback));

// create executor RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator)); RCCHECK(rclc_executor_add_timer(&executor, &timer));

msg.data = 0; }

void loop() { delay(100); RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100))); }

[hippo5329]

What do you mean by "isolate"? Do you try topic echo?

[Muthukumar4796]

Isolate means trying to avoid floating topics in the same network. Can you check the attached screenshot. I tried to echo the topic

[hippo5329]

Did you set the domain_id with "export ROS_DOMAIN_ID=7" before echo?

I repeated the test with domain_id as 10. It works.

https://github.com/hippo5329/micro_ros_arduino_examples_platformio/commit/75bec5c265880a2a1409fb40407c372e57f4df69

[Muthukumar4796]

It was my mistake to assign two allocators, which is why the topic was not published. I have identified and fixed the issue now. Thanks.