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micro-ROS / micro_ros_espidf_component

micro-ROS ESP32 IDF component and sample code
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addtwoints_server does not create node/service #202

Closed Sebski123 closed 12 months ago

Sebski123 commented 12 months ago

Issue template

Steps to reproduce the issue

. $IDF_PATH/export.sh
cd examples/addtwoints_server
idf.py set-target esp32
idf.py menuconfig 
idf.py build
idf.py flash

then in a separate Ubuntu VM: docker run -it --rm --net=host microros/micro-ros-agent:iron udp4 --port 8888 -v6

Expected behavior

microROS agent receives a connection from uC and creates ROS2 node/service

Actual behavior

microROS agent receives a connection from uC but does not create any nodes or services

Output from agent

osboxes@osboxes:~$ sudo docker run -it --net=host microros/micro-ros-agent:humble udp4 --port 8888 -v6
[1688842062.190282] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1688842062.192982] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1688842068.598365] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x00000000, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 5D 4B 2D EB 81 00 FC 01
[1688842068.599200] info     | Root.cpp           | create_client            | create                 | client_key: 0x5D4B2DEB, session_id: 0x81
[1688842068.599528] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x5D4B2DEB, address: 192.168.1.244:12790
[1688842068.600103] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1688842068.603285] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 56, data: 
0000: 81 80 00 00 01 07 2E 00 00 0A 00 01 01 03 00 00 20 00 00 00 00 01 FB 3F 18 00 00 00 61 64 64 5F
0020: 74 77 6F 69 6E 74 73 5F 63 6C 69 65 6E 74 5F 72 63 6C 63 00 03 00 00 00
[1688842068.605792] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.605906] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.611340] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.611365] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.611371] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.611376] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.611382] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.612949] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.620123] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.620268] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624714] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624818] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624827] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624833] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624838] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624843] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624850] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624855] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624860] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624865] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.624871] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.627849] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.627946] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.627954] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.633489] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.657797] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.642246] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x5D4B2DEB, participant_id: 0x000(1)
[1688842068.661512] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1688842068.675161] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675179] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675186] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675191] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675196] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675201] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675213] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675219] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675224] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675230] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675236] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675249] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675255] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675261] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675268] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675274] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675281] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675342] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675353] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675358] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675364] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675369] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675375] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675380] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675385] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675390] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675396] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675403] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675412] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675420] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675427] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675433] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1688842068.675440] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1688842068.675461] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 208, data: 
0000: 81 80 01 00 01 07 C5 00 00 0B 00 08 08 03 00 00 B7 00 00 00 0C 00 00 00 2F 61 64 64 74 77 6F 69
0020: 6E 74 73 00 33 00 00 00 65 78 61 6D 70 6C 65 5F 69 6E 74 65 72 66 61 63 65 73 3A 3A 73 72 76 3A
0040: 3A 64 64 73 5F 3A 3A 41 64 64 54 77 6F 49 6E 74 73 5F 52 65 71 75 65 73 74 5F 00 00 34 00 00 00
0060: 65 78 61 6D 70 6C 65 5F 69 6E 74 65 72 66 61 63 65 73 3A 3A 73 72 76 3A 3A 64 64 73 5F 3A 3A 41
0080: 64 64 54 77 6F 49 6E 74 73 5F 52 65 73 70 6F 6E 73 65 5F 00 01 00 00 00 15 00 00 00 72 71 2F 61
00A0: 64 64 74 77 6F 69 6E 74 73 52 65 71 75 65 73 74 00 01 00 00 13 00 00 00 72 72 2F 61 64 64 74 77
00C0: 6F 69 6E 74 73 52 65 70 6C 79 00 00 01 00 00 00
[1688842068.675471] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.675476] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.675481] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.675487] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.675492] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.675498] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.675503] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.675508] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.675513] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.676372] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x5D4B2DEB, requester_id: 0x000(7), participant_id: 0x000(1)
[1688842068.676564] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1688842068.677990] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.678023] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1688842068.678083] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1688842068.681301] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1688842068.681418] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1688842068.681330] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1688842068.684936] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1688842068.685360] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 01 80
[1688842068.685584] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 08 00 00
[1688842068.685972] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1688842068.686386] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1688842068.686777] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1688842068.686794] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1688842068.687629] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1688842068.688094] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1688842068.688255] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1688842068.689356] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1688842068.689370] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1688842068.689379] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 208, data: 
0000: 81 80 01 00 01 07 C5 00 00 0B 00 08 08 03 00 00 B7 00 00 00 0C 00 00 00 2F 61 64 64 74 77 6F 69
0020: 6E 74 73 00 33 00 00 00 65 78 61 6D 70 6C 65 5F 69 6E 74 65 72 66 61 63 65 73 3A 3A 73 72 76 3A
0040: 3A 64 64 73 5F 3A 3A 41 64 64 54 77 6F 49 6E 74 73 5F 52 65 71 75 65 73 74 5F 00 00 34 00 00 00
0060: 65 78 61 6D 70 6C 65 5F 69 6E 74 65 72 66 61 63 65 73 3A 3A 73 72 76 3A 3A 64 64 73 5F 3A 3A 41
0080: 64 64 54 77 6F 49 6E 74 73 5F 52 65 73 70 6F 6E 73 65 5F 00 01 00 00 00 15 00 00 00 72 71 2F 61
00A0: 64 64 74 77 6F 69 6E 74 73 52 65 71 75 65 73 74 00 01 00 00 13 00 00 00 72 72 2F 61 64 64 74 77
00C0: 6F 69 6E 74 73 52 65 70 6C 79 00 00 01 00 00 00
[1688842068.689729] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1688842068.689953] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1688842068.689982] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1688842068.692727] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 24, data: 
0000: 81 80 02 00 08 01 10 00 00 0C 00 08 80 00 00 01 FF FF 00 00 00 00 00 00
[1688842068.692767] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 01 00 02 00 80
[1688842068.693519] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1688842068.693637] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x5D4B2DEB, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80

**Output from ros2 node list and ros2 service list image

Additional information

The examples were compiled in and flashed from Ubuntu 22.04 (WSL2). microROS agent runs in Ubuntu 22.04 (VirtualBox).

The int32_publisher, multithread_publisher, and ping_pong examples all work as expected.

I have edited /cnetwork_interfaces/uros_ethernet_netif.c to include the following code so the ESP32 gets a static IP address:


esp_netif_dhcpc_stop(eth_netif);
char* ip= "192.168.1.244";
char* gateway = "192.168.1.1";
char* netmask = "255.255.255.0";
esp_netif_ip_info_t info_t;
memset(&info_t, 0, sizeof(esp_netif_ip_info_t));
ipaddr_aton((const char *)ip, &info_t.ip.addr);
ipaddr_aton((const char *)gateway, &info_t.gw.addr);
ipaddr_aton((const char *)netmask, &info_t.netmask.addr);
esp_netif_set_ip_info(eth_netif, &info_t);```
Acuadros95 commented 12 months ago

That example modifies the default DOMAIN ID of the micro-ROS node:

#define DOMAIN_ID 3

To visualize the node and the service, either modify this value to 0, or modify your ROS 2 domain ID to 3.

Sebski123 commented 12 months ago

That works, thanks