Timer timeout below 500ms doesn't work

[lukicdarkoo]

The timer calls callback at 2 Hz even though the timeout is less than 0.5s.

To Reproduce

1. Take the publisher example and reduce the timer timeout to 100ms.

   $ diff orig.ino new.ino 
   64c64
   <   const unsigned int timer_timeout = 1000;
   ---
   >   const unsigned int timer_timeout = 100;
   79d78
   <   delay(100);

2. Start the MicroROS agent

   $ docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -b 115200

3. Listen for messages

   $ ros2 topic hz /micro_ros_arduino_node_publisher
   average rate: 1.992
   min: 0.002s max: 1.002s std dev: 0.50018s window: 2
   average rate: 1.992
   min: 0.002s max: 1.002s std dev: 0.50020s window: 4
   average rate: 1.992
   min: 0.002s max: 1.002s std dev: 0.50017s window: 6
   average rate: 1.992
   min: 0.002s max: 1.002s std dev: 0.50016s window: 8

System information (please complete the following information):

• OS: Ubuntu 20.04
• ROS 2 Foxy
• Board: Arduino Zero

[nfry321]

As part of trying different QoS, I was just testing these limits and could not reproduce this issue. With the default publisher it maxed out at ~83Hz. Swapping to a best effort publisher (rclc_publisher_init_best_effort) I got 904Hz with the timer timeout set to 1ms.

Note three differences in my setup are I'm using a Teensy 3.2, my agent is not run using a docker, and I have a domain id set.

[pablogs9]

Hello @lukicdarkoo, I also I'm testing with the Teensy 3.2 and reducing the timer timeout corresponds with a higher rate at the ros2 topic hz.

In fact, applying your patch gives a quite accurate rate:

I'm wondering if there is something with the transports. Is this working for you with best effort publisher rclc_publisher_init_best_effort as @nfry321 is suggesting?

[lukicdarkoo]

I have just tested on Portenta H7 and it easily reaches 1000Hz even with rclc_publisher_init_default. The same code on Arduino Zero publishes at 2Hz. It seems it is specific to the board, I will investigate.

[pablogs9]

Cool, let us know when you have results.

I'm going to check your Portenta port ASAP.

[Hazem-Az-Eldin]

Hey, I am facing the same Problem on the Publisher Example Code on Arduino Due and ROS FOxy. When I changed the rclc_publisher_init_default to rclc_publisher_init_best_effort I got around 500 HZ It worked. But My problem That I am publishing Two topics while following this example https://micro.ros.org/docs/tutorials/core/programming_rcl_rclc/. Whatever I value of Timer I change I can't get a Frequency over 10 Hz even when changed rclc_publisher_init_default to rclc_publisher_init_best_effort.

[negre]

Hi, I have the same problem on the Arduino Nano RP2040 (with ros foxy or Galactic). Using "rclc_publisher_init_best_effort" doesn't solve the problem, the timer cannot have a frequency higher than 2Hz.

[pablogs9]

@negre can you open an issue in the Raspberry Pi Pico repo and post your code so we can replicate it?

[Acuadros95]

This should be fixed on the new release: v2.0.1. Check https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/issues/228 for details.

I am closing the issue, if the problem persists please reopen with feedback.