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micro-ROS library for Arduino
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Teensy 4.0 not sending messages / agent not receiving #285

Closed beauhobba closed 3 years ago

beauhobba commented 3 years ago

Issue template

Steps to reproduce the issue

Added Micro Ros to Sketch -> Include library -> Add .ZIP Library... Patched Teensyduino (not SAM) Uploaded micro-ros.publisher.io to the Teensy docker run -it --rm --net=host -v /dev:/dev -v /dev/shm:/dev/shm --privileged microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6 Sourced ROS2 /ros2 topic list

Expected behavior

The debug command window should receive messages Rostopic should be updated with the new node

Actual behavior

No new node No messages being received by the agent

Here is a log of the console:

beau@beau-VirtualBox:~$ sudo docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6
[1621970780.817450] info     | TermiosAgentLinux.cpp | init                     | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1621970781.820991] info     | TermiosAgentLinux.cpp | init                     | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1621970782.823024] info     | TermiosAgentLinux.cpp | init                     | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1621970783.851576] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 14
[1621970783.852149] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1621970784.609784] info     | Root.cpp           | create_client            | create                 | client_key: 0x49C73FD7, session_id: 0x81
[1621970784.609883] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x1237794775, address: 0
[1621970784.610233] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1621970785.609696] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 112, data: 
0000: 81 80 00 00 01 05 66 00 00 0A 00 01 01 02 00 00 57 00 00 00 3C 64 64 73 3E 3C 70 61 72 74 69 63
0020: 69 70 61 6E 74 3E 3C 72 74 70 73 3E 3C 6E 61 6D 65 3E 6D 69 63 72 6F 5F 72 6F 73 5F 61 72 64 75
0040: 69 6E 6F 5F 6E 6F 64 65 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63 69 70
0060: 61 6E 74 3E 3C 2F 64 64 73 3E 00 00 00 00 00 00
[1621970785.610493] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970785.612410] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
2021-05-25 19:26:25.612 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7415: open_and_lock_file failed -> Function open_port_internal
[1621970785.632203] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970785.638049] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970785.643778] debug    | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x49C73FD7, participant_id: 0x000(1)
[1621970785.660023] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970785.695054] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1621970785.703735] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1621970785.704089] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1621970785.706546] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1621970785.706956] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1621970785.697675] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970785.725670] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1621970785.753196] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1621970785.761927] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970785.781254] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1621970785.913994] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970786.114576] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970786.317080] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970786.517781] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970786.719581] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970786.920651] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970787.121125] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970787.329152] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970787.530277] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970787.730532] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970787.930759] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970788.149264] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970788.349716] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970788.550056] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970788.751023] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970788.951144] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970789.151266] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1621970789.362389] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80

Additional information

pablogs9 commented 3 years ago

In the copypasted output you are not using -v /dev/shm:/dev/shm in the agent. In any case, you are having a problem with the internals of the micro-ROS agent.

Please try to add -v /dev/shm:/dev/shm and if this not work I'll provide instructions for having a working micro-ROS Agent.

beauhobba commented 3 years ago

After using: sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6 and sudo docker run -it --rm -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6 Still nothing unfortunately (see error log below). However I have noticed that when I do stop the agent from running the teensy goes into error mode synchronously. 

beau@beau-VirtualBox:~$ sudo docker run -it --rm -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6
[1622030837.883957] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1622030837.905880] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1622030837.911808] info     | Root.cpp           | create_client            | create                 | client_key: 0x49C73FD7, session_id: 0x81
[1622030837.911847] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x1237794775, address: 0
[1622030837.911943] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x1237794775, address: 0
[1622030837.911954] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x1237794775, address: 0
[1622030837.911959] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x1237794775, address: 0
[1622030837.912198] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1622030837.912264] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1622030837.912319] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1622030837.912370] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1622030837.916642] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 112, data: 
0000: 81 80 00 00 01 05 66 00 00 0A 00 01 01 02 00 00 57 00 00 00 3C 64 64 73 3E 3C 70 61 72 74 69 63
0020: 69 70 61 6E 74 3E 3C 72 74 70 73 3E 3C 6E 61 6D 65 3E 6D 69 63 72 6F 5F 72 6F 73 5F 61 72 64 75
0040: 69 6E 6F 5F 6E 6F 64 65 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63 69 70
0060: 61 6E 74 3E 3C 2F 64 64 73 3E 00 00 00 00 00 00
[1622030837.930599] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030837.942988] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030837.958358] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030837.972077] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030837.996570] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030837.999801] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030838.018756] debug    | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x49C73FD7, participant_id: 0x000(1)
[1622030838.039198] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1622030838.039905] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1622030838.040361] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1622030838.040811] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1622030838.041194] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1622030838.041670] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1622030838.042143] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1622030838.051092] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1622030838.068099] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030838.126605] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1622030838.331292] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030838.534768] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030838.774741] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030838.987563] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030839.283123] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030839.491933] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030839.699272] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030839.899942] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030840.100183] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030840.301108] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030840.501809] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030840.705628] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030840.925561] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030841.126594] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030841.327109] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030841.530406] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030841.731327] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030841.932272] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030842.132483] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030842.332738] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030842.533576] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030842.734795] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030842.935051] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030843.135453] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030843.342769] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030843.543066] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030843.754159] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030843.954687] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030844.155081] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030844.355298] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030844.555317] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030844.755919] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030844.956537] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030845.156626] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030845.370301] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030845.571422] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030845.771571] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030845.972117] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030846.176063] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030846.421468] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030846.622442] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030846.835107] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030847.044570] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030847.272150] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030847.479838] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030847.699477] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030847.907520] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030848.117293] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030848.320154] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030848.525576] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030848.725949] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030848.935628] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030849.136185] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030849.337613] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030849.539321] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030849.742404] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030849.946498] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030850.156878] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030850.357351] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030850.565361] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030850.766975] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030850.971275] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030851.171597] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030851.374622] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030851.596478] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030851.802811] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030852.004509] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1622030852.205264] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x49C73FD7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
pablogs9 commented 3 years ago

Could you please update your library to the latest commit of foxy branch in this repo and test again?

beauhobba commented 3 years ago

Ok so I used the latest clone of https://github.com/micro-ROS/micro_ros_arduino and replaced my current arduino library with it. Now I am sends and receives from the Teensy. I use sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6 However, I am still not receiving any new ros2 topics in my ros2 topic list. (I have sourced my ROS2) I should not have a ROS2 Domain set (I checked my environment variables)

beau@beau-VirtualBox:~$ sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6 [1622033338.732292] info | TermiosAgentLinux.cpp | init | running... | fd: 4 [1622033338.733078] info | Root.cpp | create_client | create | client_key: 0x49A56EE4, session_id: 0x81 [1622033338.745017] info | SessionManager.hpp | establish_session | session established | client_key: 0x1235578596, address: 0 [1622033338.749580] info | SessionManager.hpp | establish_session | session re-established | client_key: 0x1235578596, address: 0 [1622033338.750744] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 19, data: 0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00 [1622033338.733044] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6 [1622033338.750819] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 19, data: 0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00 [1622033338.756183] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 56, data: 0000: 81 80 00 00 01 05 2E 00 00 0A 00 01 01 03 00 00 1F 00 00 00 00 01 00 00 17 00 00 00 6D 69 63 72 0020: 6F 5F 72 6F 73 5F 61 72 64 75 69 6E 6F 5F 6E 6F 64 65 00 00 00 00 00 00 [1622033338.775646] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80 [1622033338.775668] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80 [1622033338.775674] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80 [1622033338.776835] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80 [1622033338.777186] debug | ProxyClient.cpp | create_participant | participant created | client_key: 0x49A56EE4, participant_id: 0x000(1) [1622033338.793772] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 14, data: 0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00 [1622033338.797639] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80 [1622033338.799717] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80 [1622033338.807635] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80 [1622033338.815821] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80 [1622033338.819327] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80 [1622033338.819888] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80 [1622033338.831210] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80 [1622033338.831260] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 100, data: 0000: 81 80 01 00 01 05 5A 00 00 0B 00 02 02 03 00 00 4C 00 00 00 24 00 00 00 72 74 2F 6D 69 63 72 6F 0020: 5F 72 6F 73 5F 61 72 64 75 69 6E 6F 5F 6E 6F 64 65 5F 70 75 62 6C 69 73 68 65 72 00 00 01 01 00 0040: 1C 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 49 6E 74 33 32 5F 00 0060: 00 01 00 00 [1622033338.831351] debug | ProxyClient.cpp | create_topic | topic created | client_key: 0x49A56EE4, topic_id: 0x000(2), participant_id: 0x000(1) [1622033338.842450] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1622033338.842493] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1622033338.844584] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80 [1622033338.845111] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 14, data: 0000: 81 80 01 00 05 01 06 00 00 0B 00 02 00 00 [1622033338.845612] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.846106] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.846722] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.846951] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1622033338.862762] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.865876] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1622033338.865912] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1622033338.865931] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1622033338.865939] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1622033338.880517] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.881129] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1622033338.881149] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.881155] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 24, data: 0000: 81 80 02 00 01 05 10 00 00 0C 00 03 03 03 00 00 02 00 00 00 00 00 00 01 [1622033338.881162] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.881168] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.881172] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.881276] debug | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x49A56EE4, publisher_id: 0x000(3), participant_id: 0x000(1) [1622033338.883600] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.884136] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.884683] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.885198] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1622033338.885706] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 14, data: 0000: 81 80 02 00 05 01 06 00 00 0C 00 03 00 00 [1622033338.885901] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.888023] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1622033338.892926] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1622033338.893557] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.897451] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1622033338.897992] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1622033338.898540] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1622033338.898577] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.901400] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1622033338.901932] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1622033338.911487] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.916845] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.916866] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.916872] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1622033338.916877] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1622033338.916884] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x49A56EE4, len: 36, data: 0000: 81 80 03 00 01 05 19 00 00 0D 00 05 05 03 00 00 0B 00 00 00 00 02 01 00 03 00 00 00 00 00 00 00 0020: 03 00 00 00

hobbabeau commented 3 years ago

I also ran: docker pull microros/micro-ros-agent:foxy The agent is up to date

alansrobotlab commented 3 years ago

fwiw I was seeing the same thing on both teensy40 and teensy41 for the past few days that I've been dinking with it. It looks like the auto-update from 2021-05-28 #291 resolved the issue?

After grabbing the updated micro ros arduino files everythings talking again. I was using the standard micro ros instructions to create the agent. Hadn't tried your docker agent until this morning but am seeing the microros topics and messages there as well now.

Thanks!

Alan

hobbabeau commented 3 years ago

Hello @alansrobotlab I have updated to the newest patch, and still no ros2 topics from either docker or the standard :( Just to clarify I have installed everything correct I performed:

Added Micro Ros to Sketch -> Include library -> Add .ZIP Library... Patched Teensyduino (not SAM) Uploaded micro-ros.publisher.io to the Teensy sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6

docker run -ti --rm --net=host ros:foxy ros2 topic list

Am I missing anything crucial? Am I doing anything stupid?

pablogs9 commented 3 years ago

Can you share the output of the agent? Also, try to run your ROS2 instance like: docker run -ti --rm -v /dev/shm:/dev/shm --privileged --net=host ros:foxy ros2 topic list

alexanderbsd commented 3 years ago

Tested on my Teensy 4.0. Works well out-of-the-box.