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micro-ROS / rmw_microxrcedds

RMW implementation using Micro XRCE-DDS middleware.
Apache License 2.0
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rmw_uros_ping_agent fails after update on Teensy 4.0 #259

Closed v-lopez closed 2 years ago

v-lopez commented 2 years ago

Describe the bug No matter which values I have on the rmw_uros_ping_agent timeout and retries, they always fail. But I can publish messages normally.

To Reproduce Steps to reproduce the behaviour:

  1. Update Arduino library using docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=extras microros/micro_ros_static_library_builder:galactic teensy4
  2. Use https://github.com/micro-ROS/micro_ros_arduino/blob/galactic/examples/micro-ros_reconnection_example/micro-ros_reconnection_example.ino
  3. Upload
  4. Run the micro ros agent with ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -v
  5. The board continuously reconnect because ping fails

Expected behaviour The code does not reconnect unless the board is unplugged.

System information (please complete the following information):

Additional context Using this packaged library downloaded a few months ago works as intended. micro_ros_arduino-2.0.2-galactic.tar.gz

I cannot use the old library as I need to pack custom messages, so I need to use the docker command, which forces me to use the last version which is broken.

pablogs9 commented 2 years ago

Which version of the micro-ROS Agent are you using?

Make sure that you are using the latest Galactic version of both agent and micro-ROS library for Arduino

v-lopez commented 2 years ago

I am using master of https://github.com/eProsima/Micro-XRCE-DDS-Agent And 2.0.1 of micro-ROS-Agent (https://github.com/micro-ROS/micro-ROS-Agent/commit/52b35ef2eb9ea24bced342f6fc27f881ae5600cb) I can update to 2.0.2, but the changes seem unrelated to this.

pablogs9 commented 2 years ago

Why are you handling Micro-XRCE-DDS-Agent manually? It should be downloaded automatically by the micro-ROS Agent build process.

v-lopez commented 2 years ago

I need to release micro-ROS Agent in our buildfarm, and the superbuild method is not playing nice with my copy of the ROS buildfarm, so I have packaged https://github.com/eProsima/Micro-XRCE-DDS-Agent as a standalone debian and I am releasing micro-ROS Agent with SuperBuild set to OFF.

And the solution in https://github.com/micro-ROS/micro-ROS-Agent/issues/96 does not work for me as I am on Galactic and already have my own distribution on top of Galactic.

I was also trying with my built from source micro-ROS Agent from a few weeks ago and it was failing. But I created a new workspace from scratch with micro_ros_setup and it is working.

The problem seems to be on my side then, I'll repackage everything.

By the way, how I am packaging this is forcing it to use the system FastDDS, FastCDR and spdlog instead of downloading from source, so I don't have repeated libraries on my environment.

I assume this is can cause incompatibilities with the FastDDS and FastCDR versions used inside the Arduino?

v-lopez commented 2 years ago

Ok I believe my problem was due to using master of https://github.com/eProsima/Micro-XRCE-DDS-Agent instead of ros2.

There's 2/3 commit difference but it's interfering with the ping.

I know what I am doing is outside of the standard use, but those branch names can be confusing.

pablogs9 commented 2 years ago

ros2 is a branch that follows develop in Micro XRCE-DDS Agent. There are modifications in ping behavior in the latest versions of develop and they have not been released to master yet. Let us know if using ros2 branch works as expected.

v-lopez commented 2 years ago

Yes, as soon as I switched to ros2 I stopped having the reconnection problem, both on the example code I linked above as well as on my custom code.

pablogs9 commented 2 years ago

Nice, closing. thanks for the report