Actions, Services not bridging on Turtlebot4 w/ Humble

[civerachb-cpr]

I'm working in a slightly odd setup with a Turtlebot 4 and the domain_bridge node running inside a docker container. I can see the topics from my Create3 platform (running on domain ID 3) being bridged into my Raspberry Pi (running on domain ID 0). However, the robot's actions & services are not visible when running ros2 service list or ros2 action list.

If I open a shell in my container I can see the actions & services on domain 3 inside the container. But they don't appear to be bridged into domain 0 properly.

My current configuration yaml file:

name: create3_bridge
from_domain: 3
to_domain: 0
topics:
  battery_state:
    type: sensor_msgs/msg/BatteryState
    bidirectional: true
  cliff_intensity:
    type: irobot_create_msgs/msg/IrIntensityVector
    bidirectional: true
  cmd_audio:
    type: irobot_create_msgs/msg/AudioNoteVector
    bidirectional: true
  cmd_lightring:
    type: irobot_create_msgs/msg/LightringLeds
    bidirectional: true
  cmd_vel:
    type: geometry_msgs/msg/Twist
    bidirectional: true
  dock_status:
    type: irobot_create_msgs/msg/DockStatus
    bidirectional: true
  hazard_detection:
    type: irobot_create_msgs/msg/HazardDetectionVector
    bidirectional: true
  imu:
    type: sensor_msgs/msg/Imu
    bidirectional: true
  interface_buttons:
    type: irobot_create_msgs/msg/InterfaceButtons
    bidirectional: true
  ir_intensity:
    type: irobot_create_msgs/msg/IrIntensityVector
    bidirectional: true
  ir_opcode:
    type: irobot_create_msgs/msg/IrOpcode
    bidirectional: true
  kidnap_status:
    type: irobot_create_msgs/msg/KidnapStatus
    bidirectional: true
  mobility_monitor/transition_event:
    type: lifecycle_msgs/msg/TransitionEvent
    bidirectional: true
  mouse:
    type: irobot_create_msgs/msg/Mouse
    bidirectional: true
  odom:
    type: nav_msgs/msg/Odometry
    bidirectional: true
  robot_state/transition_event:
    type: lifecycle_msgs/msg/TransitionEvent
    bidirectional: true
  slip_status:
    type: irobot_create_msgs/msg/SlipStatus
    bidirectional: true
  static_transform/transition_event:
    type: lifecycle_msgs/msg/TransitionEvent
    bidirectional: true
  stop_status:
    type: irobot_create_msgs/msg/StopStatus
    bidirectional: true
  tf:
    type: tf2_msgs/msg/TFMessage
    bidirectional: true
  tf_static:
    type: tf2_msgs/msg/TFMessage
    bidirectional: true
  wheel_status:
    type: irobot_create_msgs/msg/WheelStatus
    bidirectional: true
  wheel_ticks:
    type: irobot_create_msgs/msg/WheelTicks
    bidirectional: true
  wheel_vels:
    type: irobot_create_msgs/msg/WheelVels
    bidirectional: true
services:
  e_stop:
    type: irobot_create_msgs/srv/EStop
    bidirectional: true
  motion_control/describe_parameters:
    type: rcl_interfaces/srv/DescribeParameters
    bidirectional: true
  motion_control/get_parameter_types:
    type: rcl_interfaces/srv/GetParameterTypes
    bidirectional: true
  motion_control/get_parameters:
    type: rcl_interfaces/srv/GetParameters
    bidirectional: true
  motion_control/list_parameters:
    type: rcl_interfaces/srv/ListParameters
    bidirectional: true
  motion_control/set_parameters:
    type: rcl_interfaces/srv/SetParameters
    bidirectional: true
  motion_control/set_parameters_atomically:
    type: rcl_interfaces/srv/SetParametersAtomically
    bidirectional: true
  reset_pose:
    type: irobot_create_msgs/srv/ResetPose
    bidirectional: true
  robot_power:
    type: irobot_create_msgs/srv/RobotPower
    bidirectional: true
  robot_state/describe_parameters:
    type: rcl_interfaces/srv/DescribeParameters
    bidirectional: true
  robot_state/get_parameter_types:
    type: rcl_interfaces/srv/GetParameterTypes
    bidirectional: true
  robot_state/get_parameters:
    type: rcl_interfaces/srv/GetParameters
    bidirectional: true
  robot_state/list_parameters:
    type: rcl_interfaces/srv/ListParameters
    bidirectional: true
  robot_state/set_parameters:
    type: rcl_interfaces/srv/SetParameters
    bidirectional: true
  robot_state/set_parameters_atomically:
    type: rcl_interfaces/srv/SetParametersAtomically
    bidirectional: true
  static_transform/describe_parameters:
    type: rcl_interfaces/srv/DescribeParameters
    bidirectional: true
  static_transform/get_parameter_types:
    type: rcl_interfaces/srv/GetParameterTypes
    bidirectional: true
  static_transform/get_parameters:
    type: rcl_interfaces/srv/GetParameters
    bidirectional: true
  static_transform/list_parameters:
    type: rcl_interfaces/srv/ListParameters
    bidirectional: true
  static_transform/set_parameters:
    type: rcl_interfaces/srv/SetParameters
    bidirectional: true
  static_transform/set_parameters_atomically:
    type: rcl_interfaces/srv/SetParametersAtomically
    bidirectional: true
  ui_mgr/describe_parameters:
    type: rcl_interfaces/srv/DescribeParameters
    bidirectional: true
  ui_mgr/get_parameter_types:
    type: rcl_interfaces/srv/GetParameterTypes
    bidirectional: true
  ui_mgr/get_parameters:
    type: rcl_interfaces/srv/GetParameters
    bidirectional: true
  ui_mgr/list_parameters:
    type: rcl_interfaces/srv/ListParameters
    bidirectional: true
  ui_mgr/set_parameters:
    type: rcl_interfaces/srv/SetParameters
    bidirectional: true
  ui_mgr/set_parameters_atomically:
    type: rcl_interfaces/srv/SetParametersAtomically
    bidirectional: true
actions:
  audio_note_sequence:
    type: irobot_create_msgs/action/AudioNoteSequence
    bidirectional: true
  dock:
    type: irobot_create_msgs/action/Dock
    bidirectional: true
  drive_arc:
    type: irobot_create_msgs/action/DriveArc
    bidirectional: true
  drive_distance:
    type: irobot_create_msgs/action/DriveDistance
    bidirectional: true
  led_animation:
    type: irobot_create_msgs/action/LedAnimation
    bidirectional: true
  navigate_to_position:
    type: irobot_create_msgs/action/NavigateToPosition
    bidirectional: true
  rotate_angle:
    type: irobot_create_msgs/action/RotateAngle
    bidirectional: true
  undock:
    type: irobot_create_msgs/action/Undock
    bidirectional: true
  wall_follow:
    type: irobot_create_msgs/action/WallFollow
    bidirectional: true

I've tried removing the bidirectional flags, but that didn't seem to have any effect; the topics remain visible but the actions & services are not.

If I add the hidden _action topics to the topics configuration I do see the actions with ros2 action list, but sending a goal hangs on waiting for the action server to become available. Services remain unbridged in this setup.

Am I doing something wrong with the configuration? Or do I need to build the package from source rather than installing the debian package? (If that's the case, will the recent changes be bloomed sometime soon?)

Docker configuration

Dockerfile

FROM ros:humble

# install ros package
RUN apt-get update && apt-get install -y \
      ros-${ROS_DISTRO}-irobot-create-msgs \
      ros-${ROS_DISTRO}-domain-bridge && \
    rm -rf /var/lib/apt/lists/*

docker-compose.yml

services:
  create3-bridge:
    image: create3-bridge:latest
    restart: always
    env_file:
      - config/create3.env
    command: ros2 run domain_bridge domain_bridge /opt/config/create3_bridge.yaml
    profiles:
      - create3
    volumes:
      - ./config/:/opt/config
    network_mode: host

config/create3.env

ROS_DOMAIN_ID=3
FASTRTPS_DEFAULT_PROFILES_FILE=/opt/config/fastrtps-profile.xml

config/fastrtps-profile.xml

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>CustomUdpTransport</transport_id>
            <type>UDPv4</type>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="participant_profile" is_default_profile="true">
        <rtps>
            <userTransports>
                <transport_id>CustomUdpTransport</transport_id>
            </userTransports>

            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>
</profiles>

(This was done to work around the shared memory issues described here: https://answers.ros.org/question/370595/ros2-foxy-nodes-cant-communicate-through-docker-container-border/)

[bioturtles]

Hi @civerachb-cpr, just wondering if you found any solutions for your problem? I also can't seem to get actions or services to come up but topics work.

In addition, I see that your "true" statements are different than the ones in the example configuration that use "True". Maybe that causes a difference?

[civerachb-cpr]

I have unfortunately not found the root cause of these problems yet. Completely wiping & rebuilding the containers seems to have fixed it for now, but I'm not sure if it'll spontaneously come back again.

[bioturtles]

Interesting; I am not using a docker so I am unsure how I would go about fixing the problem as it is present on 2 of my computers. Are there any specific steps you took to make the services appear? For example, I know for topics you have to start publishing first before the new domain id can see the topic as the QOS has to be inherited if not specified.

Sorry to ask so many questions from you, I am just a bit unsure how to proceed and am hoping I just missed something simple!

[taDachs]

As of now, the ros bridge doesn't support the bridging of services or actions via the config. you can build a custom executable for services, however, actions are not supported at all.

I opened up a PR (#82) that adds support for services and actions via config using code generation if you want to have a look