pablogs9
commented
2 years ago Closed roman-rs closed 2 years ago
pablogs9
commented
2 years ago 
roman-rs
commented
2 years ago RP2040 nano in micro-ROS for Arduino is prebuild using
colcon_verylowmem.metaand as you can see here it only has preconfigured slots for 2 publishers.You need to rebuild the precompiled library, modifying the values to fit your requirements.
Thank you for the reply.
Do you see any potential issues/problems increasing these default values? e.g. if I want to have 5 publishers? 15 publishers? and 5 subscriptions?
rp2040 seems to be powerful enough to handle such values? is it? I'll give it a try for sure (recompiling micro-ros with new values) and update the thread.
pablogs9
commented
2 years ago It highly depends on the amount of memory available in the MCU. Each entity consumes an amount of RAM and you won't be able to link de binary if the memory overflows.
roman-rs
commented
2 years ago great, I modified the default values in colcon_verylowmem.meta and now 3 publishers are running and pushing data from microros.
Thanks again!
Issue template
Steps to reproduce the issue
create more than two publishers
Expected behavior
several publishers are created and sending data to micro ros agent
Actual behavior
program failed at the 3rd call to rclc_publisher_init_default() with generic error RCL_RET_ERROR
Additional information
At first I successfully created two publishers 'encoders' and 'ina' to publish data from motor encoders and data from ina260 module (amp, volt, watts). Then I decided to add data from the on-board IMU sensor. created everything the same way as I did for ina, but program stopped at that call.
the code snippets below:
the macro I'm using to check return codes:
with all this debug output I see that publisher for encoders and ina are initialized, while I never see it reach the subscription init step.
what's interesting, if I change the order of publisher initialization then I see that publishers for encoders and imu are initialized but publisher for ina failed. no matter the order - first two publishers are created fine, but the 3rd one fails. I don't expect any limitation of this kind.
micro ros agent logs also shows only two first topics created:
I tried to debug with gdb-multiarch, but as soon as I reach the corresponding line in my code, 's' doesn't jump into the RCCHECK(rclc_publisher_init_default( &imu_pub, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32MultiArray), "imu")); delay(100); function call. instead it immediately place me into error_loop(). although 'step' in gdb supposed to make step in. sorry this is the first time I'm trying to use gdb to troubleshood arduino.
I also tried to create a publisher of different type Int32 - no luck.
commenting out that call RCCHECK(rclc_publisher_init_default( &imu_pub, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32MultiArray), "imu")); and everything works again and wheels are moving and odometry is published. and ina is reporting current.
replacing rclc_publisher_init_default with rclc_publisher_init_best_effort doesn't help either.