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ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
GNU Lesser General Public License v3.0
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Error due to driver_state error can::State #366

Closed Prj1508 closed 4 years ago

Prj1508 commented 4 years ago

I have a publisher in socketcan_bridge that sends message on sent_messages topic. When this is getting converted to socketcan in topic_to_socketcan node, I am getting an error message that says it failed to send the message on to CAN bus. When I debugged, I noticed that can::State is Open which sets a boolean resulting in failure to send CAN message. Here is the snapshot of the debugged state IMG_5397 To make sure, I sent another message with simpler, but similar data and the message is being transmitted to CAN bus and also can::State is ready. Here is the snapshot IMG_5398

I am nor sure why my message is not being published to CAN In the first case. Appreciate any suggestions on this problem

mathias-luedtke commented 4 years ago

How is this issue different from #365?

I am getting an error message that says it failed to send the message on to CAN bus.

Which?

Here is the snapshot of the debugged state

This does not help much. Did you see any console output? If you use roslaunch, please make sure to set --screen to see all output.

Prj1508 commented 4 years ago

Here is the console output

process[socketcan_bridge_node-1]: started with pid [780] process[topic_to_socketcan_node-2]: started with pid [781] process[socketcan_to_topic_node-3]: started with pid [782] process[DbwRosClass-4]: started with pid [783]

FAILED system:105 [ INFO] [1575928135.658389222]: State: OK, asio: No buffer space available [ INFO] [1575928135.658453505]: State: OK, asio: No buffer space available [ERROR] [1575928135.658506604]: Failed to send message: 0#. [ERROR] [1575928135.658826519]: Failed to send message: 0#. [ERROR] [1575928135.658863440]: Failed to send message: 0#. [ERROR] [1575928135.658886861]: Failed to send message: 0#. [ERROR] [1575928135.658909309]: Failed to send message: 0#. [ERROR] [1575928135.659355945]: Failed to send message: 0#. [ERROR] [1575928135.659392493]: Failed to send message: 0#. [ERROR] [1575928135.659416492]: Failed to send message: 0#. [ERROR] [1575928135.659442668]: Failed to send message: 0#. [ERROR] [1575928135.659701873]: Failed to send message: 0#. [ERROR] [1575928135.659823552]: Failed to send message: 0#. [ERROR] [1575928135.659991913]: Failed to send message: 0#. [ERROR] [1575928135.660044488]: Failed to send message: 0#. [ERROR] [1575928135.905479353]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.906224001]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.906946850]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.907610312]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.908095260]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.908794152]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.909385881]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.909919792]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.910306181]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.911137633]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.911830380]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.912341156]: Failed to send message: 10#5660000010130000. [ERROR] [1575928135.912666453]: Failed to send message: 10#5660000010130000.

I am not sure why it is trying to send a message with 0# id

mathias-luedtke commented 4 years ago

FAILED system:105 [ INFO] [1575928135.658389222]: State: OK, asio: No buffer space available

The driver stops working because yor are sending messages (way) faster than the underlying system can process them. The errors occur with a rate of 2 KHz. If it is just a burst, you could increase the queue length (https://github.com/ros-industrial/ros_canopen/issues/102).

Anyway, I will close this issue, because it does not seem to be a bug. If you need support, please consider asking on ROS answers instead.

I am not sure why it is trying to send a message with 0# id

I guess something is wrong with your data generation scheme; and it is not thread-safe.

Prj1508 commented 4 years ago

@ipa-mdl, I did some more analysis. My code is such that I am subscribing to a topic in a callback, then building a message of type can_msgs::Frame in the callback. Now, if I publish from within this callback on sent_messages topic, I see that the message is sent successfully to the bus.

However, I have to ensure the message should be sent at 10ms rate and hence I have created a timer in ROS (ros::Timer) and then publishing the message I want (which is a global variable in my class definition) from the timercallback. When I do this, the message is not sent and the console output is as above. Please suggest