Services getting random values from caller

[flabrosse]

Caveat, I am not sure the espidf component is the issue.

• Hardware description: ESP32
• RTOS: FreeRTOS
• Installation type: esp-idf
• Version or commit hash: humble, galactic, latest micro-ros from updating from github (84f1ab2), as well as older hash (357379ecde).

In code I inherited (here), we have services that run on the ESP, using our own service types but made of standard types (byte, uint8, bool, etc.). When I call the services from a Linux computer (by hand using ros2 service call or from a program, the correct value is displayed in the message (on the command line), but the callback on the ESP receives a random value.

Maybe related, the service call never returns: I have to ctrl-C it from the command line.

[pablogs9]

I cannot access the code you provided, could you provide a replicator?

[flabrosse]

Grrrr, I had not noticed it was not accessible. I'll try to come up with a minimum example.

EDIT: I have an example, but this is quite a few files. What is the best way to make it available here?

[flabrosse]

Example here, expiring on 05/12/2022. This contains an old (about 2 years old) version of micro-ros-espidf-component. It won't compile with the latest (can't find rcl/rcl.h, as reported elsewhere).

[pablogs9]

I won't use rclc_executor_spin, instead use the approach here: https://github.com/micro-ROS/micro_ros_espidf_component/blob/d0e63d9ab1d4b1b2777e68b715c5ea6d20ad68f4/examples/addtwoints_server/main/main.c#L74-L78

BTW, does the provided example work for you? https://github.com/micro-ROS/micro_ros_espidf_component/tree/iron/examples/addtwoints_server

[flabrosse]

I'll give the spin_some a go when I have a minute.

I can't remember if I tried to compile addtwoints_server but I tried to compile the ping pong example and the compilation fails (can't find rcl/rcl.h).

[flabrosse]

I can run addtwoints_server and client and they work, on my host computer (linux). Interestingly enough, while the server is running, ros2 service list does not list the service, and I can't call on the CLI. However, I do get the right values in the server, as sent by the client. I now need to try this on an esp32. And ros2 node list does not show the nodes.

[flabrosse]

I am not sure exactly what the issue was, but it now works. What I have changed is that I now run humble, while I was using galactic before. I noticed that if I compiled the simple example and run it on the esp32 connected to my ubuntu 22.04 laptop running humble, it all worked, while when running it on the RPI running galactic I had the problem. I now updated the RPI to ubuntu 22.04 running humble and it all works.

However, I am still using the micro_ros_espdif_component from galactic, cloned here. Indeed, if I try any of the branches from the official github, my code does not compile, missing rcl/rcl.h, as reported in issue #187. I am still investigating this.

[flabrosse]

Because my issue was a non-issue (maybe) but is solved in humble, I'll close it.