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ros-drivers / rosserial

A ROS client library for small, embedded devices, such as Arduino. See: http://wiki.ros.org/rosserial
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If I post a message, the ESP32 will crash #623

Open wandao00 opened 8 months ago

wandao00 commented 8 months ago

Hello, I recently had a problem where when I post my message my esp32 crashes (arduino) and when I remove the publish message code the problem is solved. pub.publish(&laser_msg);（this is code） image（This is the phenomenon of rushing）

[INFO] [1699236329.312304]: ROS Serial Python Node [INFO] [1699236329.319116]: Fork_server is: False [INFO] [1699236329.321276]: Waiting for socket connections on port 11411 [INFO] [1699236329.322986]: Waiting for socket connection [INFO] [1699236329.344440]: Established a socket connection from 192.168.148.113 on port 53141 [INFO] [1699236329.346280]: calling startSerialClient [INFO] [1699236331.452127]: Requesting topics... [INFO] [1699236331.602897]: Note: publish buffer size is 2048 bytes [INFO] [1699236331.604556]: Setup publisher on laser_scan [sensor_msgs/LaserScan] [ERROR] [1699236346.579466]: Lost sync with device, restarting... [INFO] [1699236346.581656]: Requesting topics... [WARN] [1699236346.628828]: Last read step: data checksum [WARN] [1699236346.630709]: Run loop error: [Errno 104] Connection reset by peer [INFO] [1699236346.632325]: Client has exited, closing socket. [INFO] [1699236346.633669]: Shutting down [INFO] [1699236346.635329]: All done Traceback (most recent call last): File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 475, in run if self.port.inWaiting() < 1: File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 312, in inWaiting chunk = self.socket.recv(1, socket.MSG_DONTWAIT|socket.MSG_PEEK) ConnectionResetError: [Errno 104] Connection reset by peer

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/home/wandao/catkin_ws/devel/lib/rosserial_python/serial_node.py", line 15, in exec(compile(fh.read(), python_script, 'exec'), context) File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/nodes/serial_node.py", line 80, in server.listen() File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 255, in listen self.startSerialClient() File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 261, in startSerialClient client.run() File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 555, in run self.port.flushOutput() AttributeError: 'RosSerialServer' object has no attribute 'flushOutput' [INFO] [1699236346.642929]: Sending tx stop request [INFO] [1699236346.644427]: shutdown hook activated Exception in thread Thread-6: Traceback (most recent call last): File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner self.run() File "/usr/lib/python3.8/threading.py", line 870, in run self._target(*self._args, **self._kwargs) File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 788, in processWriteQueue self._write(data) File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 749, in _write self.port.write(data) File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 294, in write totalsent += self.socket.send(data[totalsent:]) OSError: [Errno 9] Bad file descriptor （Here's a ros tip） Forgive my English，thanks（谢谢）！

wandao00 commented 7 months ago

I've also noticed that when I set up rangs and intensities, the same crashes laser_msg.ranges_length = 10; laser_msg.intensities_length = 10;