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micro-ROS / micro_ros_stm32cubemx_utils

A set of utilities for integrating micro-ROS in a STM32CubeMX project
Apache License 2.0
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embeddedRTPS example with NUCLEO-F767ZI #46

Open pnn16004 opened 2 years ago

pnn16004 commented 2 years ago

Issue template

Steps to reproduce the issue

Follow the embeddedRTPS instructions md.

Expected behavior

Visible with either ros2 topic list or Wireshark, or respond to listener on ROS2 side.

Actual behavior

No evidence that it works, but no error on the microcontroller side when monitored with PuTTY.

Additional information

I've double checked that I followed the instructions correctly. The only step I'm unsure about is 5. LwIP -> General Settings -> IP Address Settings (Set here the board address and mask). I used the following settings:

IP: 192.168.001.086 Netmask: 255.255.255.000 Gateway: 192.168.001.001

With ifconfig I see that my own IP and netmask are 192.168.1.84 and 255.255.255.0, respectively for enp3s0. With ip r I see that my gateway is 192.168.1.1. Not sure if I'm supposed to mimic the settings like this.

I made sure to disable WiFi and export FAST-DDS for ros2 topic list and listener. I don't have the board and the computer in an isolated network, but shouldn't I at least be able to see packets from 192.168.1.86 with Wireshark?

ping_test_f7.zip

pablogs9 commented 2 years ago

Could you debug step by step in order to provide more information about where is the system failing?

pnn16004 commented 2 years ago

What do you mean specifically? When I checked the return values of all the rcl and rclc functions it's 0. rcl_publish() also returns 0, so it doesn't feel like there's anything wrong there.

pablogs9 commented 2 years ago

Maybe check if embeddedRTPS threads are being created and if any package is being sent at LwIP level. Which kind of traffic do you see in Wireshark? Do you have any RTPS messages from the board IP?

pnn16004 commented 2 years ago

I don't see any RTPS messages unless I export Fast DDS for ROS2. I don't see any messages from the board, 192.168.1.86. I just started using Wireshark, so I'm not sure if I'm looking at it correctly. How would I check if embeddedRTPS threads are created? I only know how to check threads on the computer.

Wireshark logs: test2.zip

pablogs9 commented 2 years ago

You should be able to debug thread status with STM32CubeIDE and STLink probe. Please check ST documentation.

ZhenshengLee commented 2 years ago

@pablogs9

I think the https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/galactic/embeddedrtps.md is not enough to do a complete test with ertps.

for example, ros2 topic/node list outputs what when stm32 board is running.

I thought the output may be like what @pnn16004 said

Expected behavior Visible with either ros2 topic list or Wireshark, or respond to listener on ROS2 side.

But after seeing https://github.com/micro-ROS/rmw_embeddedrtps/blob/756e867f88f882a8db0c18e198fb6b9bbf22a8c2/CMakeLists.txt#L34

option(RMW_ERTPS_GRAPH "Allows to perform graph-related operations to the user" OFF)

I need to guess the meaning of this option, guess the expected bahavior of ros2 node list and wonder if I should make this open manually.

pablogs9 commented 2 years ago

@ZhenshengLee As estated in the rmw_embeddedrtps README.md this package is experimental. That means that it has a minimal set of functionality for making the middleware interoperable with ROS 2. This functionality is basically a basic pub/sub implementation on top of micro-ROS and embeddedRTPS. Graph management (required for ros2 node list) is not handled in this RMW, nor many other features. As you can see in the documentation, the default middleware for micro-ROS is Micro XRCE-DDS, which has a much more complete list of features.

Said that, rmw_embeddedrtps is an open source experimental contribution to the micro-ROS ecosystem, mostly in order to show an example on how to implement differents middlewares in micro-ROS. Feel completely free to modify the codebase and contribute your improvements via pull requests. Also, if you need consulting services and/or feature acceleration services do not hesitate to contact eProsima's commercial department at mariamerlan@eprosima.com.

ZhenshengLee commented 2 years ago

Said that, rmw_embeddedrtps is an open source experimental contribution to the micro-ROS ecosystem, mostly in order to show an example on how to implement differents middlewares in micro-ROS. Feel completely free to modify the codebase and contribute your improvements via pull requests

Understood, thanks.