Open Ecuashungo opened 1 year ago
Could you provide instructions for replicating this issue?
On the Raspberry pi I ran those commands in my ros2 workspace after having sourced the main ros2 installation (humble).
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git
rosdep update && rosdep install --from-paths src --ignore-src -y
colcon build
source install/local_setup.bash
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyAMA1 -b 921600 -v 6
on the px4 side I have executed the following command in the NuttX-shell:
microdds_client start -t serial -d /dev/ttyS2 -b 921600
And the two devices are connected through a uart connection using 3 cables: GND, TX and RX.
The serial connection works, I can access the data through screen
.
If you need more detailed information or logfiles (do they exist?) I'm happy to share those as well.
Sorry but I'm sure which library is using "microdds_client". Can you ensure that it is using the latest version of Micro XRCE-DDS?
Also, why are you using micro-ROS Agent and not Micro XRCE-DDS Agent? They are basically the same, but just curious.
It is using the latest version of Micro XRCE-DDS (this commit of the px4 fork).
Thanks for pointing out the Micro XRCE-DDS Agent. I was not aware that there is a difference between the two. I have now tried to setup everything with the Micro XRCE-DDS Agent (v2.2.1) and it works.
The only problem is that I get a warning (WARN [timesync] RTT too high for timesync: 17 ms
) on the px4/client side but I don't think it has anything to do with the micro XRCE-DDS (issue is being discussed here).
@Ecuashungo , could you try (I don't have the hardware to do that myself) to modify SuperBuild.cmake
of micro-ROS-agent in order to pull the master
branch of Micro-XRCE-DDS-Agent of instead of the ros2
one?
https://github.com/micro-ROS/micro-ROS-Agent/blob/0e41ea652238bd0123f6249d69b533d282882dd6/micro_ros_agent/cmake/SuperBuild.cmake#L28-L29
Segmentation Fault in micro-ros-agent
Steps to reproduce the issue
I have compiled the micro-ros-agent according to the instructions found here. When running the agent it starts up just fine and as soon as the client side is launched I get the following error:
On the client side in the NuttX shell I get the following error:
I have tested the client side with other agents where it worked like charm, so I believe that the problem is the agent running on my raspberry pi CM4. What are steps I can take to debug this problem?