JiangengDong commented 2 years ago

Description

In the Kconfig file, an MTU is defined. However, it is not passed to the Colcon build system, which means the MicroROS client always uses the default MTU, which is 512. This causes the publisher to always fail when sending a message larger than 500 bytes.

In this PR, one line is added to the makefile, so the configured_colcon.meta will have the correct MTU set.

Type of change

[x] Bug fix (non-breaking change which fixes an issue)

How Has This Been Tested?

[x] A 1024 byte message (uint32[256]) is published from a nucleo-f746zg board to a laptop. The MTU is set to 1036 in the prj.conf. It succeeds to get the message on the laptop with ros2 topic echo.

Acuadros95 commented 2 years ago

LGMT.

As a comment, you can send and receive messages longer than the MTU over reliable entities, chech this: docs

Acuadros95 commented 2 years ago

@mergify backport main foxy

mergify[bot] commented 2 years ago

backport main foxy

✅ Backports have been created

* [#54 Pass the MTU config from Zephyr to colcon (backport #53)](https://github.com/micro-ROS/micro_ros_zephyr_module/pull/54) has been created for branch `main` * [#55 Pass the MTU config from Zephyr to colcon (backport #53)](https://github.com/micro-ROS/micro_ros_zephyr_module/pull/55) has been created for branch `foxy`

micro-ROS / micro_ros_zephyr_module

Pass the MTU config from Zephyr to colcon #53

Description

Type of change

How Has This Been Tested?

✅ Backports have been created