rclc_parameter_server_init_default returns RCL_RET_ERROR

[ALUIS97]

I am trying to set a parameter server with a nucleo stm32f4 board , I already changed the values in colcon.meta (as said here https://micro.ros.org/docs/tutorials/programming_rcl_rclc/parameters/#callback) but the function is returning an error, although my program can continue rc = rclc_executor_spin(&executor); also returns RCL_RET_ERROR and goes out and I can not see the parameters of my micro ros app from the command ros2 param list . I am using the FOXY distribution

[pablogs9]

Could you share your colcon.meta and rmw_microxrcedds/config.h?

[ALUIS97]

config_h.txt colcon_meta.txt By the way I set up my environment with static library IDE and DMA transport for serial comunication

[pablogs9]

Could you share the micro-ROS Agent output with the flag -v6?

[ALUIS97]

micro_ros_agent_v6.txt here it is

[pablogs9]

An finally, can you share you micro-ROS client code?

[ALUIS97]

micro_ros_client.txt

[zijian-x]

Is there a fix/update on this? I'm having this issue as well trying to add a parameter server on the f767zi nucleo board.

[zijian-x]

[1] ⤷ cat micro_ros_stm32cubemx_utils/microros_static_library/library_generation/colcon.meta
{
    "names": {
        "tracetools": {
            "cmake-args": [
                "-DTRACETOOLS_DISABLED=ON",
                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
            ]
        },
        "rosidl_typesupport": {
            "cmake-args": [
                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
            ]
        },
        "rcl": {
            "cmake-args": [
                "-DBUILD_TESTING=OFF",
                "-DRCL_COMMAND_LINE_ENABLED=OFF",
                "-DRCL_LOGGING_ENABLED=OFF"
            ]
        },
        "rcutils": {
            "cmake-args": [
                "-DENABLE_TESTING=OFF",
                "-DRCUTILS_NO_FILESYSTEM=ON",
                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
                "-DRCUTILS_NO_64_ATOMIC=ON",
                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
            ]
        },
        "microxrcedds_client": {
            "cmake-args": [
                "-DUCLIENT_PIC=OFF",
                "-DUCLIENT_PROFILE_UDP=OFF",
                "-DUCLIENT_PROFILE_TCP=OFF",
                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
                "-DUCLIENT_PROFILE_SERIAL=OFF",
                "-UCLIENT_PROFILE_STREAM_FRAMING=ON",
                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"
            ]
        },
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=10",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=8",
                "-DRMW_UXRCE_MAX_SERVICES=5",
                "-DRMW_UXRCE_MAX_CLIENTS=1",
                "-DRMW_UXRCE_MAX_HISTORY=4",
                "-DRMW_UXRCE_TRANSPORT=custom"
            ]
        }
    }
}

[1] ⤷ cat micro_ros_stm32cubemx_utils/microros_static_library/libmicroros/microros_include/rmw_microxrcedds_c/config.h
#ifndef RMW_MICROXRCEDDS_CONFIG_H
#define RMW_MICROXRCEDDS_CONFIG_H

#include <uxr/client/config.h>

/* #undef RMW_UXRCE_TRANSPORT_UDP */
/* #undef RMW_UXRCE_TRANSPORT_TCP */
/* #undef RMW_UXRCE_TRANSPORT_SERIAL */
#define RMW_UXRCE_TRANSPORT_CUSTOM
/* #undef RMW_UXRCE_TRANSPORT_IPV4 */
/* #undef RMW_UXRCE_TRANSPORT_IPV6 */
/* #undef RMW_UXRCE_USE_REFS */
/* #undef RMW_UXRCE_ALLOW_DYNAMIC_ALLOCATIONS */
/* #undef RMW_UXRCE_GRAPH */
/* #undef RMW_UROS_ERROR_HANDLING */

#ifdef RMW_UXRCE_TRANSPORT_UDP
    #define RMW_UXRCE_MAX_TRANSPORT_MTU UXR_CONFIG_UDP_TRANSPORT_MTU
    #define RMW_UXRCE_DEFAULT_IP ""
    #define RMW_UXRCE_DEFAULT_PORT ""
#elif defined(RMW_UXRCE_TRANSPORT_TCP)
    #define RMW_UXRCE_MAX_TRANSPORT_MTU UXR_CONFIG_TCP_TRANSPORT_MTU
    #define RMW_UXRCE_DEFAULT_IP ""
    #define RMW_UXRCE_DEFAULT_PORT ""
#elif defined(RMW_UXRCE_TRANSPORT_SERIAL)
    #define RMW_UXRCE_MAX_TRANSPORT_MTU UXR_CONFIG_SERIAL_TRANSPORT_MTU
    #define RMW_UXRCE_DEFAULT_SERIAL_DEVICE ""
#elif defined(RMW_UXRCE_TRANSPORT_CUSTOM)
    #define RMW_UXRCE_MAX_TRANSPORT_MTU UXR_CONFIG_CUSTOM_TRANSPORT_MTU
#endif

#define RMW_UXRCE_ENTITY_CREATION_TIMEOUT 1000
#define RMW_UXRCE_ENTITY_DESTROY_TIMEOUT 1000

/* #undef RMW_UXRCE_STREAM_HISTORY_INPUT */
/* #undef RMW_UXRCE_STREAM_HISTORY_OUTPUT */
#if defined(RMW_UXRCE_STREAM_HISTORY_INPUT) && defined(RMW_UXRCE_STREAM_HISTORY_OUTPUT)
#undef RMW_UXRCE_STREAM_HISTORY_INPUT
#undef RMW_UXRCE_STREAM_HISTORY_OUTPUT
#define RMW_UXRCE_STREAM_HISTORY_INPUT
#define RMW_UXRCE_STREAM_HISTORY_OUTPUT
#else
#define RMW_UXRCE_STREAM_HISTORY_INPUT 4
#define RMW_UXRCE_STREAM_HISTORY_OUTPUT 4
#endif

#define RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT 1000

#define RMW_UXRCE_MAX_HISTORY 4
#define RMW_UXRCE_MAX_INPUT_BUFFER_SIZE (RMW_UXRCE_MAX_TRANSPORT_MTU * RMW_UXRCE_STREAM_HISTORY_INPUT)
#define RMW_UXRCE_MAX_OUTPUT_BUFFER_SIZE (RMW_UXRCE_MAX_TRANSPORT_MTU * RMW_UXRCE_STREAM_HISTORY_OUTPUT)

#define RMW_UXRCE_MAX_SESSIONS 1
#define RMW_UXRCE_MAX_OPTIONS RMW_UXRCE_MAX_SESSIONS*3
#define RMW_UXRCE_MAX_NODES 1
#define RMW_UXRCE_MAX_PUBLISHERS 10
#define RMW_UXRCE_MAX_SUBSCRIPTIONS 8
#define RMW_UXRCE_MAX_SERVICES 5
#define RMW_UXRCE_MAX_CLIENTS 1
#define RMW_UXRCE_MAX_TOPICS -1
#define RMW_UXRCE_MAX_WAIT_SETS 4
#define RMW_UXRCE_MAX_GUARD_CONDITION 4

#if RMW_UXRCE_MAX_TOPICS == -1
#define RMW_UXRCE_MAX_TOPICS_INTERNAL RMW_UXRCE_MAX_PUBLISHERS + RMW_UXRCE_MAX_SUBSCRIPTIONS
#else
#define RMW_UXRCE_MAX_TOPICS_INTERNAL RMW_UXRCE_MAX_TOPICS
#endif

#define RMW_UXRCE_NODE_NAME_MAX_LENGTH 60
#define RMW_UXRCE_TOPIC_NAME_MAX_LENGTH 60
#define RMW_UXRCE_TYPE_NAME_MAX_LENGTH 100

#define RMW_UXRCE_ENTITY_NAMING_BUFFER_LENGTH 100

#endif  // RMW_MICROXRCEDDS_CONFIG_H

transport:

bool cubemx_transport_open(struct uxrCustomTransport* transport);
bool cubemx_transport_close(struct uxrCustomTransport* transport);
size_t cubemx_transport_write(struct uxrCustomTransport* transport,
                              const uint8_t* buf, size_t len, uint8_t* err);
size_t cubemx_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
                             size_t len, int timeout, uint8_t* err);

void* microros_allocate(size_t size, void* state);
void microros_deallocate(void* pointer, void* state);
void* microros_reallocate(void* pointer, size_t size, void* state);
void* microros_zero_allocate(size_t number_of_elements, size_t size_of_element,
                             void* state);

static rcl_node_t node;
static rcl_allocator_t allocator;
static rclc_support_t support;

void init(void* arg) {
  UART_HandleTypeDef* huart3 = (UART_HandleTypeDef*)arg;
  rmw_uros_set_custom_transport(true, (void*)huart3, cubemx_transport_open,
                                cubemx_transport_close, cubemx_transport_write,
                                cubemx_transport_read);

  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;

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

  allocator = rcl_get_default_allocator();
  rclc_support_init(&support, 0, NULL, &allocator);
  rclc_node_init_default(&node, "micro_ros_node", "", &support);
}

static library is compiled via docker in the newest jazzy branch with tag 5.0.1

RCL_RET_ERROR at:

rclc_parameter_server_t param_server;
rclc_parameter_server_init_default(&param_server, node);