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micro-ROS / micro_ros_renesas_demos

Demo code for Renesas e2 studio
Apache License 2.0
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Cant see any topic or node #138

Closed Imeguras closed 9 months ago

Imeguras commented 9 months ago

Issue template

Steps to reproduce the issue

[desktop]: from the pc, hook up ethernet cable to switch,

source install/setup.sh
ros2 launch micro_ros_agent micro_ros_agent_launch.py

[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

[INFO] [launch]: All log files can be found below /home/micron/.ros/log/2023-11-14-00-05-44-809613-micron-25549
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [micro_ros_agent-1]: process started with pid [25550]

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:

699920918.8191864 [micro_ros_agent-1] [1699920918.818800] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x67572BE1, len: 16, data: 
1699920918.8192642 [micro_ros_agent-1] 0000: 81 80 05 0D 07 01 08 00 0D 0F 00 05 01 0D 00 00
1699920918.8192966 [micro_ros_agent-1] [1699920918.818924] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
1699920918.8193226 [micro_ros_agent-1] 0000: 01 0D 00 00
1699920918.8194921 [micro_ros_agent-1] [1699920918.819007] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x67572BE1, len: 13, data: 
1699920918.8195279 [micro_ros_agent-1] 0000: 81 00 00 00 0A 01 05 00 06 0D 00 00 80
1699920918.9192338 [micro_ros_agent-1] [1699920918.918930] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x67572BE1, len: 16, data: 
1699920918.9193254 [micro_ros_agent-1] 0000: 81 80 06 0D 07 01 08 00 0D 10 00 05 02 0D 00 00
1699920918.9193580 [micro_ros_agent-1] [1699920918.919042] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
1699920918.9193830 [micro_ros_agent-1] 0000: 02 0D 00 00
1699920918.9195805 [micro_ros_agent-1] [1699920918.919115] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x67572BE1, len: 13, data: 
1699920918.9196634 [micro_ros_agent-1] 0000: 81 00 00 00 0A 01 05 00 07 0D 00 00 80
1699920919.0192232 [micro_ros_agent-1] [1699920919.018864] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x67572BE1, len: 16, data: 
1699920919.0193000 [micro_ros_agent-1] 0000: 81 80 07 0D 07 01 08 00 0D 11 00 05 03 0D 00 00
1699920919.0193324 [micro_ros_agent-1] [1699920919.018993] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
1699920919.0193655 [micro_ros_agent-1] 0000: 03 0D 00 00
1699920919.0195146 [micro_ros_agent-1] [1699920919.019078] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x67572BE1, len: 13, data: 
1699920919.0195534 [micro_ros_agent-1] 0000: 81 00 00 00 0A 01 05 00 08 0D 00 00 80
1699920919.1191220 [micro_ros_agent-1] [1699920919.118809] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x67572BE1, len: 16, data: 
1699920919.1192129 [micro_ros_agent-1] 0000: 81 80 08 0D 07 01 08 00 0D 12 00 05 04 0D 00 00
1699920919.1192462 [micro_ros_agent-1] [1699920919.118902] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
1699920919.1192739 [micro_ros_agent-1] 0000: 04 0D 00 00
1699920919.1194487 [micro_ros_agent-1] [1699920919.118980] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x67572BE1, len: 13, data: 
1699920919.1194842 [micro_ros_agent-1] 0000: 81 00 00 00 0A 01 05 00 09 0D 00 00 80
1699920919.2192514 [micro_ros_agent-1] [1699920919.218860] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x67572BE1, len: 16, data: 
1699920919.2193303 [micro_ros_agent-1] 0000: 81 80 09 0D 07 01 08 00 0D 13 00 05 05 0D 00 00
1699920919.2193637 [micro_ros_agent-1] [1699920919.218940] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
1699920919.2193902 [micro_ros_agent-1] 0000: 05 0D 00 00
1699920919.2195735 [micro_ros_agent-1] [1699920919.218999] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x67572BE1, len: 13, data: 
1699920919.2196074 [micro_ros_agent-1] 0000: 81 00 00 00 0A 01 05 00 0A 0D 00 00 80
1699920919.3192081 [micro_ros_agent-1] [1699920919.318895] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x67572BE1, len: 16, data: 
1699920919.3192859 [micro_ros_agent-1] 0000: 81 80 0A 0D 07 01 08 00 0D 14 00 05 06 0D 00 00
1699920919.3193183 [micro_ros_agent-1] [1699920919.319006] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
1699920919.3193572 [micro_ros_agent-1] 0000: 06 0D 00 00
1699920919.3195577 [micro_ros_agent-1] [1699920919.319093] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x67572BE1, len: 13, data: 
1699920919.3196003 [micro_ros_agent-1] 0000: 81 00 00 00 0A 01 05 00 0B 0D 00 00 80
1699920919.4195642 [micro_ros_agent-1] [1699920919.419243] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x67572BE1, len: 16, data: 
1699920919.4196596 [micro_ros_agent-1] 0000: 81 80 0B 0D 07 01 08 00 0D 15 00 05 07 0D 00 00
1699920919.4196908 [micro_ros_agent-1] [1699920919.419355] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
1699920919.4197159 [micro_ros_agent-1] 0000: 07 0D 00 00
1699920919.4198616 [micro_ros_agent-1] [1699920919.419421] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x67572BE1, len: 13, data: 
1699920919.4198995 [micro_ros_agent-1] 0000: 81 00 00 00 0A 01 05 00 0C 0D 00 00 80
1699920919.5193741 [micro_ros_agent-1] [1699920919.519063] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x67572BE1, len: 16, data:

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?

pablogs9 commented 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?

Imeguras commented 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?

⤷  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

pablogs9 commented 9 months ago

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

Imeguras commented 9 months ago

Damn, you just saved my week

pablogs9 commented 9 months ago

Closing as solved