Closed Imeguras closed 9 months ago
Could you provide the complete micro-ROS Agent log (using the flag -v6
)?
Also have you ensured that the micro-ROS Agent is running before the MCU is booted?
Could you provide the complete micro-ROS Agent log (using the flag
-v6
)? Also have you ensured that the micro-ROS Agent is running before the MCU is booted?⤷ micron☩ ros2_ws ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888 -v6 10:44:37 [1699958698.351616] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 [1699958698.351843] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6 [1699958816.560457] 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 67 57 2B E1 81 00 FC 01 [1699958816.560722] info | Root.cpp | create_client | create | client_key: 0x67572BE1, session_id: 0x81 [1699958816.560798] info | SessionManager.hpp | establish_session | session established | client_key: 0x67572BE1, address: 192.168.0.104:256 [1699958816.560854] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 19, data: 0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00 [1699958816.561340] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 48, data: 0000: 81 80 00 00 01 07 26 00 00 0A 00 01 01 03 00 00 18 00 00 00 00 01 EF EF 10 00 00 00 6D 79 5F 72 0020: 65 6E 65 73 61 73 5F 6E 6F 64 65 00 00 00 00 00 [1699958816.581111] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x67572BE1, participant_id: 0x000(1) [1699958816.581248] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 14, data: 0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00 [1699958816.581274] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80 [1699958816.581595] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80 [1699958816.581860] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 80, data: 0000: 81 80 01 00 01 07 46 00 00 0B 00 02 02 03 00 00 38 00 00 00 11 00 00 00 72 74 2F 69 6E 74 5F 70 0020: 75 62 6C 69 73 68 65 72 00 00 01 20 1C 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 0040: 64 73 5F 3A 3A 49 6E 74 33 32 5F 00 00 01 00 00 [1699958816.581959] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x67572BE1, topic_id: 0x000(2), participant_id: 0x000(1) [1699958816.581991] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 14, data: 0000: 81 80 01 00 05 01 06 00 00 0B 00 02 00 00 [1699958816.582011] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1699958816.582314] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1699958816.582364] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 24, data: 0000: 81 80 02 00 01 07 10 00 00 0C 00 03 03 03 00 00 02 00 00 00 00 00 00 01 [1699958816.582436] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x67572BE1, publisher_id: 0x000(3), participant_id: 0x000(1) [1699958816.582465] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 14, data: 0000: 81 80 02 00 05 01 06 00 00 0C 00 03 00 00 [1699958816.582484] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1699958816.582805] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1699958816.582854] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 36, data: 0000: 81 80 03 00 01 07 1C 00 00 0D 00 05 05 03 00 00 0E 00 00 00 00 02 01 00 03 00 01 00 0A 00 00 00 0020: 00 00 00 03 [1699958816.583119] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x67572BE1, datawriter_id: 0x000(5), publisher_id: 0x000(3) [1699958816.583151] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 14, data: 0000: 81 80 03 00 05 01 06 00 00 0D 00 05 00 00 [1699958816.583172] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80 [1699958816.583493] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80 [1699958816.583526] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 04 00 07 01 08 00 00 0E 00 05 00 00 00 00 [1699958816.583565] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 00 00 00 00 [1699958816.583593] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80 [1699958816.682980] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 05 00 07 01 08 00 00 0F 00 05 01 00 00 00 [1699958816.683055] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 01 00 00 00 [1699958816.683089] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80 [1699958816.783007] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 06 00 07 01 08 00 00 10 00 05 02 00 00 00 [1699958816.783120] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 02 00 00 00 [1699958816.783178] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80 [1699958816.882953] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 07 00 07 01 08 00 00 11 00 05 03 00 00 00 [1699958816.883078] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 03 00 00 00 [1699958816.883144] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80 [1699958816.982979] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 08 00 07 01 08 00 00 12 00 05 04 00 00 00 [1699958816.983039] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 04 00 00 00 [1699958816.983091] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 09 00 00 00 80 [1699958817.082985] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 09 00 07 01 08 00 00 13 00 05 05 00 00 00 [1699958817.083101] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 05 00 00 00 [1699958817.083157] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 0A 00 00 00 80 [1699958817.182992] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 0A 00 07 01 08 00 00 14 00 05 06 00 00 00 [1699958817.183105] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 06 00 00 00 [1699958817.183163] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 0B 00 00 00 80 [1699958817.282998] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 0B 00 07 01 08 00 00 15 00 05 07 00 00 00 [1699958817.283127] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 07 00 00 00 [1699958817.283206] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 0C 00 00 00 80 [1699958817.383025] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 0C 00 07 01 08 00 00 16 00 05 08 00 00 00 [1699958817.383142] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 08 00 00 00 [1699958817.383198] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 0D 00 00 00 80 [1699958817.482976] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 0D 00 07 01 08 00 00 17 00 05 09 00 00 00 [1699958817.483092] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 09 00 00 00 [1699958817.483149] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 0E 00 00 00 80 [1699958817.582980] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 0E 00 07 01 08 00 00 18 00 05 0A 00 00 00 [1699958817.583040] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 0A 00 00 00 [1699958817.583070] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 0F 00 00 00 80 [1699958817.683003] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 0F 00 07 01 08 00 00 19 00 05 0B 00 00 00 [1699958817.683112] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 0B 00 00 00 [1699958817.683175] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 10 00 00 00 80 [1699958817.782984] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 10 00 07 01 08 00 00 1A 00 05 0C 00 00 00 [1699958817.783103] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 0C 00 00 00 [1699958817.783183] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 11 00 00 00 80 [1699958817.882959] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 11 00 07 01 08 00 00 1B 00 05 0D 00 00 00 [1699958817.883041] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 0D 00 00 00 [1699958817.883138] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 12 00 00 00 80 [1699958817.982982] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 12 00 07 01 08 00 00 1C 00 05 0E 00 00 00 [1699958817.983090] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 0E 00 00 00 [1699958817.983196] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 13 00 00 00 80 [1699958818.082953] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 13 00 07 01 08 00 00 1D 00 05 0F 00 00 00 [1699958818.083024] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 0F 00 00 00 [1699958818.083098] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 14 00 00 00 80 [1699958818.182988] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 14 00 07 01 08 00 00 1E 00 05 10 00 00 00 [1699958818.183102] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 10 00 00 00 [1699958818.183179] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 15 00 00 00 80 [1699958818.282979] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 15 00 07 01 08 00 00 1F 00 05 11 00 00 00 [1699958818.283095] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 11 00 00 00 [1699958818.283135] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 16 00 00 00 80 [1699958818.383002] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 16 00 07 01 08 00 00 20 00 05 12 00 00 00 [1699958818.383117] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 12 00 00 00 [1699958818.383234] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 17 00 00 00 80 [1699958818.482980] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 17 00 07 01 08 00 00 21 00 05 13 00 00 00 [1699958818.483083] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 13 00 00 00 [1699958818.483134] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 18 00 00 00 80 [1699958818.583019] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 18 00 07 01 08 00 00 22 00 05 14 00 00 00 [1699958818.583107] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 14 00 00 00 [1699958818.583205] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 19 00 00 00 80 [1699958818.682977] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x67572BE1, len: 16, data: 0000: 81 80 19 00 07 01 08 00 00 23 00 05 15 00 00 00 [1699958818.683092] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000000, len: 4, data: 0000: 15 00 00 00 [1699958818.683153] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x67572BE1, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 1A 00 00 00 80 ^C[ros2run]: Interrupt
Also i've always ran agent log first but after your message i tested it after and can confirm both "work" just fine, i just cant expose topics or nodes to the general ros2 environment
As you can see it is publishing data to the DDS dataspace from the agent environment. If you do not receive data in ROS 2, probably you will need to ensure that your ROS 2 node is in the very same ROS_DOMAIN. A way of checking this is running ros2 daemon stop
and then ROS_DOMAIN_ID=0 ros2 topic list
Damn, you just saved my week
Closing as solved
Issue template
Steps to reproduce the issue
[desktop]: from the pc, hook up ethernet cable to switch,
[ek-ra6m5] from the board, hook the ethernet cable to switch power on the board through the usb debug port
Expected behavior
when doing ros2 topic list a topic should be visible or even nodes, or anything really
Actual behavior
Only the logs contain some data that proves that something is indeed happening, when launching the software heres what its displayed
Additional information
on the log part
cat /home/micron/.ros/log/2023-11-14-00-05-44-809613-micron-25549/launch.log
Displays something like:ive tried to unset ros_domain_id but despite tn no longer showing up on my env the issue persists do i have to unset everything related to ros2?