Couldn't use ros2 parameters

rahulswa08 commented 1 year ago

Issue template

Hardware description: Raspberry Pi Pico to Ubuntu 20.04 with ROS2 Galactic
Version or commit hash: galactic and foxy
Steps to reproduce the issue

Replace pico_micro_ros_example.c with the following and build the code. Dump the uf2 to pico and start the ros2 agent.

#include <stdio.h>
#include <unistd.h>

// Copyright (c) 2021 - for information on the respective copyright owner
// see the NOTICE file and/or the repository https://github.com/ros2/rclc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <stdio.h>
#include <unistd.h>

#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>

#include <rclc_parameter/rclc_parameter.h>
#include <rmw_microros/rmw_microros.h>

#include "pico/stdlib.h"
#include "pico_uart_transports.h"

const uint LED_PIN = 25;

rclc_parameter_server_t param_server;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
  (void) timer;
  (void) last_call_time;

  int value;
  rclc_parameter_get_int(&param_server, "param2", &value);
  value++;
  rclc_parameter_set_int(&param_server, "param2", (int64_t) value);
}

void on_parameter_changed(Parameter * param)
{
  printf("Parameter %s modified.", param->name.data);
  switch (param->value.type) {
    case RCLC_PARAMETER_BOOL:
      printf(" New value: %d (bool)", param->value.bool_value);
      break;
    case RCLC_PARAMETER_INT:
      printf(" New value: %ld (int)", param->value.integer_value);
      break;
    case RCLC_PARAMETER_DOUBLE:
      printf(" New value: %f (double)", param->value.double_value);
      break;
    default:
      break;
  }
  printf("\n");
}

int main()
{

    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);
  rcl_ret_t rc;
  rcl_allocator_t allocator = rcl_get_default_allocator();

    // Wait for agent successful ping for 2 minutes.
    const int timeout_ms = 1000; 
    const uint8_t attempts = 120;

    rcl_ret_t ret = rmw_uros_ping_agent(timeout_ms, attempts);

  // Create init_options
  rclc_support_t support;
  rclc_support_init(&support, 0, NULL, &allocator);

  // Create node
  rcl_node_t node;
  rclc_node_init_default(&node, "demo_param_node", "", &support);

  // Create parameter service
  rclc_parameter_server_init_default(&param_server, &node);

  // create timer,
  rcl_timer_t timer;
  rclc_timer_init_default(
    &timer,
    &support,
    RCL_MS_TO_NS(1000),
    timer_callback);

  // Create executor
  rclc_executor_t executor;
  rclc_executor_init(
    &executor, &support.context, RCLC_PARAMETER_EXECUTOR_HANDLES_NUMBER + 1,
    &allocator);
  rclc_executor_add_parameter_server(&executor, &param_server, on_parameter_changed);
  rclc_executor_add_timer(&executor, &timer);

  // Add parameters
  rclc_add_parameter(&param_server, "param1", RCLC_PARAMETER_BOOL);
  rclc_add_parameter(&param_server, "param2", RCLC_PARAMETER_INT);
  rclc_add_parameter(&param_server, "param3", RCLC_PARAMETER_DOUBLE);

  rclc_parameter_set_bool(&param_server, "param1", false);
  rclc_parameter_set_int(&param_server, "param2", 10);
  rclc_parameter_set_double(&param_server, "param3", 0.01);

  bool param1;
  int param2;
  double param3;

  rclc_parameter_get_bool(&param_server, "param1", &param1);
  rclc_parameter_get_int(&param_server, "param2", &param2);
  rclc_parameter_get_double(&param_server, "param3", &param3);

    // msg.data = 0;
    while (true)
    {
        rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
    }
    return 0;
}

Expected behavior

When I run ros2 param list in agent side. I was expecting list of parameter.

Actual behavior

But I received Exception while calling service of node '/demo_param_node': None

Not sure why is this happening. @pablogs9 could you takelook into this.

Additional information

Also changed the colcon.meta file according to requirements mentioned in micro_ros_parameters tutorial : link

# colcon.meta example with memory requirements to use a parameter server
{
    "names": {
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=1",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
                "-DRMW_UXRCE_MAX_SERVICES=5",
                "-DRMW_UXRCE_MAX_CLIENTS=0"
            ]
        }
    }
}

Acuadros95 commented 1 year ago

Hi! What is the output log of the Agent?

rahulswa08 commented 1 year ago

Hi @Acuadros95 , This is the output of ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -b 115200 Output:

[1688999708.765105] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1688999708.765309] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1688999709.270147] info     | Root.cpp           | create_client            | create                 | client_key: 0x39BF781D, session_id: 0x81
[1688999709.270282] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x39BF781D, address: 0
[1688999709.288886] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x39BF781D, participant_id: 0x000(1)
[1688999709.298349] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x39BF781D, requester_id: 0x000(7), participant_id: 0x000(1)
[1688999709.309261] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x39BF781D, requester_id: 0x001(7), participant_id: 0x000(1)
[1688999709.318876] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x39BF781D, requester_id: 0x002(7), participant_id: 0x000(1)
[1688999709.328949] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x39BF781D, requester_id: 0x003(7), participant_id: 0x000(1)
[1688999709.339673] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x39BF781D, requester_id: 0x004(7), participant_id: 0x000(1)
[1688999709.344919] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x39BF781D, topic_id: 0x000(2), participant_id: 0x000(1)
[1688999709.347345] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x39BF781D, publisher_id: 0x000(3), participant_id: 0x000(1)
[1688999709.350572] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x39BF781D, datawriter_id: 0x000(5), publisher_id: 0x000(3)

Acuadros95 commented 1 year ago

ROS2 Galactic Are you using Fast-DDS as your ROS 2 middleware?

Galactic uses cyclone dds as its default middleware, which does not offer full compatibility with micro-ROS. Also, notice that micro-ROS galactic and foxy versions are deprecated, as their ROS 2 versions are also deprecated.

rahulswa08 commented 1 year ago

Thanks @Acuadros95 ,

That worked like magic. I was using Cyclonedds and as I changed to Fastdds it started working.

Would you suggest to change ROS version? If yes which version would be better? I'm currenly using Ubuntu 20.04

Acuadros95 commented 1 year ago

Would you suggest to change ROS version? If yes which version would be better? I'm currenly using Ubuntu 20.04

I think you are good for now, foxy just enter its end of life status a few months ago. On the long term you should think about moving to Humble if possible, as it will be supported until 2027 (detail)

Closing!

micro-ROS / micro_ros_raspberrypi_pico_sdk