Observing Error messages on all four: CPU Only, FPGA, Integrated and streamline applications in ROS Perception

[yashwant-d]

Following error messages has been observed while running any of the above four apps from ROS Perception: while the output is observed on respective topics as expected.

`root@kria:/home/ubuntu/install-kr260-ubuntu/lib# ros2 launch perception_2nodes trace_rectify_resize.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2022-06-27-19-11-14-384088-kria-4880 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [tracetools_launch.action]: Writing tracing session to: /root/.ros/tracing/trace_rectify_resize [INFO] [component_container-1]: process started with pid [4894] [component_container-1] [INFO] [1656357075.189531890] [perception_container]: Load Library: /home/ubuntu/install-kr260-ubuntu/lib/librectify.so [component_container-1] [INFO] [1656357075.554523540] [perception_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1656357075.554690732] [perception_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_node' in container '/perception_container' [component_container-1] [INFO] [1656357075.624117536] [perception_container]: Load Library: /home/ubuntu/install-kr260-ubuntu/lib/libresize.so [component_container-1] [INFO] [1656357075.635588661] [perception_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1656357075.635757303] [perception_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/resize/resize_node' in container '/perception_container'

[component_container-1] 2022-06-27 19:11:35.263 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.2f.4 -> Function processDataMsg [component_container-1] 2022-06-27 19:11:35.372 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.1c.4 -> Function processDataMsg [component_container-1] 2022-06-27 19:11:35.372 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.2f.4 -> Function processDataMsg [component_container-1] 2022-06-27 19:11:35.421 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.1c.4 -> Function processDataMsg [component_container-1] 2022-06-27 19:11:35.421 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.2f.4 -> Function processDataMsg `

[vmayoral]

@yashwant-d, first time seing this error. Your output after the launch:

[component_container-1] 2022-06-27 19:11:35.263 [RTPS_MSG_IN Error] (ID:281473374806048) Problem reserving CacheChange in reader: 01.0f.c4.59.1e.13.e2.a3.01.00.00.00|0.0.2f.4 -> Function processDataMsg
...

hints that there're some issues with the DDS implementation. Can you provide more details about which DDS implementation you're using? Also, can you elaborate on how to reproduce (exactly) this issue and which development environment you're using?

[yashwant-d]

Hi @vmayoral the default DDS which is shipped with humble is being used here, which I believe is eProsima’s DDS. we haven't done any experimentation with DDS. we have built Perception 2 node example for KR260 Ubuntu. The KR260 board is loaded with ubuntu 22.04-jammy from canonical on which we installed ros2 humble from Debian packages.

The server machine on which the KRS is installed also have ubuntu 22.04-jammy from canonical on which we installed ros2 humble from Debian packages.

steps to reproduce:

1. Build perception 2 nodes examples from KRS1.0 with "Cross-compilation development" flow
2. copy install-kr260-ubuntu directory to the board
3. source ros and install directory from step 2
4. launch perception_2nodes simulation.launch.py on server machine
5. launch perception_2nodes trace_rectify_resize.launch.py or any of the 4 use-cases of perception app
6. the expected output from processing nodes of the boards can be observed on the rqt_image_view on the machine, which means the use cases are working
7. on the terminal where step 5 was launched, below error message starts to appear.

[yashwant-d]

Considering the discussion on this https://github.com/eProsima/Fast-DDS/issues/2799 it doesn't seem to a faulty behavior. And the fix is lowering the severity of this to a Warning, already part of Fast-DDS.