microros failed in "rclc_node_init_default"

wyingda commented 1 year ago

Issue template

Hardware description: Olimex board with STM32
RTOS: FreeRtos
Installation type: micro_ros_setup serial
Version or commit hash: foxy

Steps to reproduce the issue

Starting with https://micro.ros.org/docs/tutorials/core/first_application_rtos/freertos/. source:micro_ros_setup I am using a Linux laptop with Ubuntu 20.04 and build ROS 2 foxy from the sources.

1.I started the agent in a terminal.( docker run -it --rm --net=host -v /dev/shm:/dev/shm -v /dev:/dev --privileged microros/micro-ros-agent:foxy serial --dev /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0 -v6 and ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0 -v6 ) 2.I checked incoming ROS 2 topic in third window.

Error: there is not connection established between client and agent.

Expected behavior

working with demo ping_pong

Actual behavior

Additional information

I have verified the functionality of TX and RX.No problem with TX, RX and memory allocation. I printed the information sent and received and found that agent not received this message 7e 0 0 2c 0 81 80 0 0 1 7 24 0 0 a 0 1 1 3 0 0 16 0 0 0 0 1 4 80 e 0 0 0 70 69 6e 67 70 6f 6e 67 5f . Is it something wrong with my agent? Are you have any ideas? I really appreciate your help. @pablogs9

wyingda commented 1 year ago

orengeokami commented 3 months ago

Until now, I still met this problem. But I resolved this by adding force reset after function rclc_node_init_default invoked with RCL_RET_ERROR: some block might be this:

//create transport:
{
    set_custom_transport:

    //USART-DMA
    /*
    rmw_ret_t rmw_ret = \
        rmw_uros_set_custom_transport(
            true,
            (void*)&huart2,
            cubemx_transport_open,
            cubemx_transport_close,
            cubemx_transport_write,
            cubemx_transport_read);
            */

    //USB-CDC
    rmw_ret_t rmw_ret = \
        rmw_uros_set_custom_transport(
            true,
            NULL,
            cubemx_transport_open,
            cubemx_transport_close,
            cubemx_transport_write,
            cubemx_transport_read);

      if(rmw_ret != RMW_RET_OK)
      {
          goto set_custom_transport;
      }
};

//create allocator:
{
    rcl_allocator_t freeRTOS_allocator = \
        rcutils_get_zero_initialized_allocator();

// freeRTOS_allocator.allocate = microros_allocate;

// freeRTOS_allocator.deallocate = microros_deallocate;

// freeRTOS_allocator.reallocate = microros_reallocate;

// freeRTOS_allocator.zero_allocate = microros_zero_allocate;

    //Modified Version.
    //integrated with FreeRTOS instead of using custom_memory_manager.c
    freeRTOS_allocator.allocate = __freertos_allocate;

    freeRTOS_allocator.deallocate = __freertos_deallocate;

    freeRTOS_allocator.reallocate = __freertos_reallocate;

    freeRTOS_allocator.zero_allocate = __freertos_zero_allocate;

    if(!rcutils_set_default_allocator(&freeRTOS_allocator)) {
        printf("Error on default allocators (line %d)\n", __LINE__);
        for(;;);
    }
};

allocator = rcl_get_default_allocator();

osDelay(1000);

//support_init:
{
    support_init:

    rcl_ret_t ret;

    //connect to the micro-ros agent...
    ret = rclc_support_init(&support, 0, NULL, &allocator);

    //if ROS-agent is not ready,
    //program will stuck here, trying again and again...
    if(ret != RCL_RET_OK)
    {
        osDelay(1000);

        printf("Error on support init (line %d). Passing, Trying Again...\r\n", __LINE__);

        goto support_init;
    }
};

osDelay(1000);

// create node
{
    rcl_ret_t ret;

    ret = rclc_node_init_default(
            &node,
            "alphabot_micro_ros_node",
            "/",
            &support);

    if(ret != RCL_RET_OK)
    {
        printf("Error on create node (line %d). Failed, Reseting System...\r\n", __LINE__);

        //communication error!
        HAL_NVIC_SystemReset();
    }
};

micro-ROS / micro_ros_setup