Several publishers of same message type won't work

[SmnGdn]

Edited message to follow template:

• Hardware description: Arduino nano rp2040 connect
• RTOS: N/A
• Installation type:
• Version or commit hash: foxy

Steps to reproduce the issue

run this sketch on Arduino nano rp2040 connect sample_code.zip

Expected behavior

Created a node that publishes 3 topics and subscribes to another one

Actual behavior

Subscribes to the required topic, publishes through the 2 first publishers, but enters into error_loop after trying to create the 3rd publisher. Typically in this example, it prints CHECK1, CHECK2 ,.....CHECK6, and then endlessly prints errorLoop1. If I remove the third publisher then it works.

Additional information

Original message:

I have a sketch that creates a node that includes: 3 publishers (2 of them have same message type "measurementMessage"') 1 subscriber

The problem is that there is an error every time I try to add the 2 publishers that have the measurementMessage, the second one will not get created. All the rest works and if I remove one of the two measurementMessage, it works. The 2 publishers are identical besides the topic name so it's not a typo of anything like that.

The problem is at this line, for the second publisher of the same message type: rcl_ret_t rc = rclc_publisher_init_default( &publisher, &node, &type_support, &topic_name);

If I invert the order in which I create the publishers, it's still the second one created that causes an error.

Is it that it's impossible to create 2 publishers with same message type with micro-ros?

Thanks!

[pablogs9]

Please:

• use the issue template, do not delete it
• share sample code in order to reproduce the issue
• indicate which board are you using
• provide steps for replicating

[Acuadros95]

Can you create 3 publishers with different types?

I think your board is using the colcon_verylowmem.meta meta file, which only allows 2 publishers. Modify this file and rebuild the library, check the How to build the precompiled library readme section for more info.

[SmnGdn]

Thanks, I am using arduino nano rp2040 connect I tried to change the maximum number of publishers to 3 in the colcon_verylowmem.meta file, and then built the library, but now when I try to execute the code (which compiles correctly), the line RCCHECK(rclc_support_init(&support, 0, NULL, &allocator)); not working and brings me to the error_loop If I try to remove this line, then the next one: RCCHECK(rclc_node_init_default(&node, "node_name", "", &support)); throws me in the error loop also

Is that because other things should be modified in the colcon_verylowmem.meta file?

[SmnGdn]

Please:

* use the issue template, do not delete it

* share sample code in order to reproduce the issue

* indicate which board are you using

* provide steps for replicating

Ok, I edited my original post

[pablogs9]

If rclc_support_init fails maybe your board is not being connected to the micro-ROS agent.

Can you share the output of the micro-ROS agent using the flag -v6? Is your board correctly connected to the wifi?

[SmnGdn]

You are right, the problem was that I started the node (arduino) before the agent (PC), now it is solved and I can have 3 publishers. For people who would encounter the same error, the steps for solving it are:

-Change the maximum number of publishers to 3 in the colcon_verylowmem.meta file -Build the library (How to build the precompiled library) -Retry, do not forget to start the agent first.

Thanks @pablogs9 and @Acuadros95 for your help!