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micro-ROS / micro_ros_raspberrypi_pico_sdk

Raspberry Pi Pico (RP2040) and micro-ROS integration
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No connection/execution with the raspberry #26

Closed kappa95 closed 3 years ago

kappa95 commented 3 years ago

I am trying to executing the example: pico_micro_ros_example.c following this guide The building seems ok: it returns from visual studio code this: 


[proc] Executing command: /usr/local/bin/cmake --build /home/kappa95/micro_ros_ws/src/micro_ros_raspberrypi_pico_sdk/build --config Debug --target all -j 10 --
[build] [  1%] Performing build step for 'ELF2UF2Build'
[build] [  3%] Built target bs2_default
[build] [  6%] Built target bs2_default_padded_checksummed_asm
[build] [100%] Built target elf2uf2
[build] [  7%] No install step for 'ELF2UF2Build'
[build] [  8%] Completed 'ELF2UF2Build'
[build] [ 15%] Built target ELF2UF2Build
[build] Consolidate compiler generated dependencies of target pico_micro_ros_example
[build] [100%] Built target pico_micro_ros_example
[build] Build finished with exit code 0

I generate the uf2 file and I have uploaded it as in the guide. I have followed all the next steps of the guide and after: micro-ros-agent serial --dev /dev/ttyACM0 baudrate=115200

I get: 

/bin/bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8)
[1619029391.389393] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3

The raspberry pico doesn't blink and I don't find the topics and nodes. i.e. :

$ ros2 node list
//

I am using ROS2 Dashing with Ubuntu 18.04.5 LTS.

Update: I don't know if it could be useful for solving the issue, but I checked the return value from rmw_uros_set_custom_transport() function using a simple if condition for blinking the led if the return value is false. And it shows that it is false.

    bool goofy = rmw_uros_set_custom_transport(
        true,
        NULL,
        pico_serial_transport_open,
        pico_serial_transport_close,
        pico_serial_transport_write,
        pico_serial_transport_read);

    gpio_init(LED_PIN);
    gpio_set_dir(LED_PIN, GPIO_OUT);

    if (!goofy)
    {
        for (size_t i = 0; i < 20; i++)
        {
            gpio_put(LED_PIN, 1);
            sleep_ms(250);
            gpio_put(LED_PIN, 0);
            sleep_ms(250);
        }
    }
Acuadros95 commented 3 years ago

Hello @kappa95, I have replicated the issue and it is related to connection timing.

The function rclc_support_init tries to connect with the agent with a timeout of 10 seconds, if the agent is not reachable in that time the scripts fails, not even reaching the LED activation. You can check this with the return value of the function, which returns false (RCL_RET_OK) on a successful connection.

I have modified the example to solve this problem (PR #29), now it will wait for a reachable agent for up to 2 minutes using the function rmw_uros_ping_agent. This should give enough time to start the agent and establish the connection.

Please give it a try and let us know the results

kappa95 commented 3 years ago

Hello @kappa95, I have replicated the issue and it is related to connection timing.

The function rclc_support_init tries to connect with the agent with a timeout of 10 seconds, if the agent is not reachable in that time the scripts fails, not even reaching the LED activation. You can check this with the return value of the function, which returns false (RCL_RET_OK) on a successful connection.

I have modified the example to solve this problem (PR #29), now it will wait for a reachable agent for up to 2 minutes using the function rmw_uros_ping_agent. This should give enough time to start the agent and establish the connection.

Please give it a try and let us know the results

I have pulled the repo, I have seen the changes in the code. But I get the same issue:

$ ros2 node list
//

May i have missed some passes or package install? Is it correct to install micro-ros-agent from snap or i need some particular version compatible with ROS Dashing or i need some specific dds/rmw implementation?

Update 2: I tried also to use: micro-ros-agent serial -m rtps --dev /dev/ttyACM0 baudrate=115200 with: RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 node list I changed also in the code: rclc_node_init_default(&node, "pico_node", "/", &support); but nothing is changed.

Acuadros95 commented 3 years ago

Could you please try with the dockerized foxy agent?

docker run -it -v /dev:/dev --privileged microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6

kappa95 commented 3 years ago

Could you please try with the dockerized foxy agent?

docker run -it -v /dev:/dev --privileged microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6

Same results:

docker run -it -v /dev:/dev --privileged microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6
[1619164483.342955] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 4
[1619164483.343359] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6

Second terminal:

ros2 node list
//

Both terminal are sourced with ROS Dashing: source /opt/ros/dashing/setup.bash

Acuadros95 commented 3 years ago

Could you check the serial port output without the agent, using miniterm or similar?

Disconnect and reconnect the board, then for the first 2 minutes there should appear a periodic message each second, like this:

sudo miniterm /dev/ttyACM0 115200
--- Miniterm on /dev/ttyACM0  115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀

If nothing appears, check that your raspberry pico is actually on the /dev/ttyACM0 port, by disconnecting it and checking that it is not on the /dev/tty list using ls /dev/ttyACM*.

kappa95 commented 3 years ago

Could you check the serial port output without the agent, using miniterm or similar?

Disconnect and reconnect the board, then for the first 2 minutes there should appear a periodic message each second, like this:

sudo miniterm /dev/ttyACM0 115200
--- Miniterm on /dev/ttyACM0  115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
~␀␀␐␀�␀␀␀␂␀␀  ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀  ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀  ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀  ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀  ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀  ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀    
��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀  ��␂␀␀␀�␒~␀␀␐␀�␀␀␀␂␀␀

If nothing appears, check that your raspberry pico is actually on the /dev/ttyACM0 port, by disconnecting it and checking that it is not on the /dev/tty list using ls /dev/ttyACM*.

With miniterm, nothing appear: no messages. And the only device is the raspberry: 

ls /dev/ttyACM*
/dev/ttyACM0

Screenshot from 2021-04-23 10-55-40

I tried the hello world program from the raspberry site and using minicom the serial connection worked on this port

Acuadros95 commented 3 years ago

After some investigation, the problem relies on the arm-none-eabi-gcc installed version: Ubuntu 18.04 uses 6.3.1, while the micro-ros library is compiled using 9.2.1. To check your actual version: arm-none-eabi-gcc --version

This commands will download a compatible version from source and set the cmake compiler path.

wget --directory-prefix=$HOME https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2020q2/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2
tar -xvf $HOME/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2 -C $HOME
echo "export PICO_TOOLCHAIN_PATH=$HOME/gcc-arm-none-eabi-9-2020-q2-update" >> ~/.bashrc
source ~/.bashrc

Anyway, check the version output on the cmake command is at least 9.x.x:

-- Defaulting build type to 'Release' since not specified.
PICO compiler is pico_arm_gcc
PICO_GCC_TRIPLE defaulted to arm-none-eabi
-- The C compiler identification is GNU 9.3.1
-- The CXX compiler identification is GNU 9.3.1
-- The ASM compiler identification is GNU
kappa95 commented 3 years ago

After some investigation, the problem relies on the arm-none-eabi-gcc installed version: Ubuntu 18.04 uses 6.3.1, while the micro-ros library is compiled using 9.2.1. To check your actual version: arm-none-eabi-gcc --version

This commands will download a compatible version from source and set the cmake compiler path.

wget --directory-prefix=$HOME https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2020q2/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2
tar -xvf $HOME/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2 -C $HOME
echo "export PICO_TOOLCHAIN_PATH=$HOME/gcc-arm-none-eabi-9-2020-q2-update" >> ~/.bashrc
source ~/.bashrc

Anyway, check the version output on the cmake command is at least 9.x.x:

-- Defaulting build type to 'Release' since not specified.
PICO compiler is pico_arm_gcc
PICO_GCC_TRIPLE defaulted to arm-none-eabi
-- The C compiler identification is GNU 9.3.1
-- The CXX compiler identification is GNU 9.3.1
-- The ASM compiler identification is GNU

Thank you so much! Something now is changed:

docker run -it -v /dev:/dev --privileged microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6
[1619178075.701850] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1619178075.702175] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1619178075.714481] info     | Root.cpp           | create_client            | create                 | client_key: 0x2B5411CA, session_id: 0x81
[1619178075.714548] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x726929866, address: 0
[1619178075.714607] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x2B5411CA, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1619178075.717420] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x2B5411CA, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 2B 54 11 CA 81 00 FC 01
[1619178075.717486] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x726929866, address: 0
[1619178075.717542] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x2B5411CA, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1619178075.719486] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x2B5411CA, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 2B 54 11 CA 81 00 FC 01
[1619178075.719580] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x726929866, address: 0
[1619178075.719652] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x2B5411CA, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1619178075.824008] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x2B5411CA, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 2B 54 11 CA 81 00 FC 01
[1619178075.824408] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x726929866, address: 0
[1619178075.824503] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x2B5411CA, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00

The Led on the Raspberry now is on But still: 

ros2 node list
//

Another note: It seems that using:

micro-ros-agent serial --dev /dev/ttyACM0 baudrate=115200 -v6

is not working because it stays:

/bin/bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8)
[1619179129.875510] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 4
[1619179129.876131] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6

UPDATE: :smiley: :star_struck: Now it is working, I recompiled again after a clean of the build and now it is working. Still I don't understand why there is still // in node list:

ros2 node list
//
/pico_node

In any case is working only with: docker run -it -v /dev:/dev --privileged microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -v6 I tried also the one with: ...micro-ros-agent:dashing serial ... but that is not working. But now is working! :star_struck: Thank you so much

Acuadros95 commented 3 years ago

Thank you for the feedback!

lsirikh commented 2 years ago

I uses Ubuntu 20.04 and ros2 foxy. Is it possible to run the example code correctly?