ESP32 does not publish any topic over UART

nilutpolkashyap commented 1 year ago

Hardware description: ESP32 Dev Board 3.3V
RTOS: FreeRTOS
Installation type: esp-idf component
Version or commit hash: humble, esp-idf v4.4

My whole project is inside the repo https://github.com/nilutpolkashyap/esp32_ros2_example

Steps to reproduce the issue

Make changes to 'colcon.meta' file inside 'components/micro_ros_espidf_component'

cd components/micro_ros_espidf_component/
sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta

Type 'idf.py clean-microros' inside the project to clean and rebuild all the micro-ROS library
Copied the code from 'int32_publisher_custom_transport/main/main.c' into 'esp32_ros2_example/main/main.c'
Copied 'Kconfig.projbuild' file inside 'esp32_ros2_example/main' directory
Copied 'esp32_serial_transport.h' and 'esp32_serial_transport.c' files inside 'esp32_ros2_example/main' directory
Updated 'main/CMakeLists.txt' to include 'esp32_serial_transport.c'
Copied 'app-colcon.meta' files from 'int32_publisher_custom_transport' inside 'esp32_ros2_example' directory
Type 'idf.py menuconfig' and then changed 'micro-ROS network interface select' to 'Micro XRCE-DDS over UART' option inside 'micro-ROS settings'
In idf.py menuconfig, changed both UART TX pin and UART RX pin to '0' inside 'micro-ROS settings -> UART settings'

Folder structure

├── CMakeLists.txt
├── components
|   └── micro_ros_espidf_component
├── main
│   ├── CMakeLists.txt
    ├── component.mk
    ├── esp32_serial_transport.c
    ├── esp32_serial_transport.h
    ├── Kconfig.projbuild
│   └── main.c
├── app-colcon.meta
└── README.md

I used the commands to build my project and then flash onto my ESP32 dev board

idf.py build
idf.py flash -p /dev/ttyUSB0

My ESP32 dev board com port is /dev/ttyUSB0

Expected behavior

Able to see data published by EPS32 by running micro-ROS agent docker.

Actual behavior

Running the micro-ROS agent docker

docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:humble serial --dev /dev/ttyUSB0 -v6

gives the error

[1682516131.639975] info     | TermiosAgentLinux.cpp | init                     | Serial port not found. | device: /dev/ttyUSB0, error 2, waiting for connection...

mros_agent_docker_error

I tried to run the micro-ROS agent built inside my workspace,

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 -v6

I got the following output

[1682517078.353975] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1682517078.354132] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6

After that, I needed to press the Reset 'EN' button on my ESP32 board to see the following output. I get the session established output around 10 times, after which nothing is printed.

[1682517113.228130] info     | Root.cpp           | create_client            | create                 | client_key: 0x19B62B22, session_id: 0x81
[1682517113.228291] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x19B62B22, address: 0
[1682517113.228560] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1682517114.230784] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x19B62B22, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 19 B6 2B 22 81 00 FC 01
[1682517114.231030] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x19B62B22, address: 0
[1682517114.231283] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1682517115.232003] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x19B62B22, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 19 B6 2B 22 81 00 FC 01
[1682517115.232207] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x19B62B22, address: 0
[1682517115.232520] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1682517116.232588] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x19B62B22, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 19 B6 2B 22 81 00 FC 01
[1682517116.232749] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x19B62B22, address: 0
[1682517116.232936] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1682517117.233720] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x19B62B22, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 19 B6 2B 22 81 00 FC 01
[1682517117.233904] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x19B62B22, address: 0
[1682517117.234086] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1682517118.237543] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x19B62B22, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 19 B6 2B 22 81 00 FC 01
[1682517118.237717] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x19B62B22, address: 0
[1682517118.237880] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1682517119.249222] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x19B62B22, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 19 B6 2B 22 81 00 FC 01
[1682517119.249358] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x19B62B22, address: 0
[1682517119.249555] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1682517120.249677] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x19B62B22, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 19 B6 2B 22 81 00 FC 01
[1682517120.249831] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x19B62B22, address: 0
[1682517120.250027] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1682517121.249633] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x19B62B22, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 19 B6 2B 22 81 00 FC 01
[1682517121.249842] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x19B62B22, address: 0
[1682517121.249992] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1682517122.249631] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x19B62B22, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 19 B6 2B 22 81 00 FC 01
[1682517122.249806] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x19B62B22, address: 0
[1682517122.249977] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x19B62B22, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00

mros_agent_error

Even running 'ros2 topic list' does not show any micro-ROS topics

Additional information

nilutpolkashyap commented 1 year ago

@Acuadros95 any help would be highly appreciated.

Acuadros95 commented 1 year ago

In idf.py menuconfig, changed both UART TX pin and UART RX pin to '0' inside 'micro-ROS settings -> UART settings'

Why? Could you give more details on your transport?

From the Agent log, it looks like the ESP is sending the data correctly, but is unable to retrieve the response from the agent. Try to debug and fix the RX side of the ESP32 Serial transport

nilutpolkashyap commented 1 year ago

Why? Could you give more details on your transport?

I read through some previous issues which required changing the UART pins to 0. This step may be wrong. But either way, it didn't work for me.

Try to debug and fix the RX side of the ESP32 Serial transport

Can you be more specific about what steps I need to take? I am not sure what to do here.

Acuadros95 commented 1 year ago

What is your output if you left the UART TX pin and UART RX to their -1 default value?

I read through some previous issues which required changing the UART pins to 0. This step may be wrong. But either way, it didn't work for me.

Could you give a link to those issues?

micro-ROS / micro_ros_espidf_component