search

ros2 / rmw_cyclonedds

ROS 2 RMW layer for Eclipse Cyclone DDS
Apache License 2.0
107 stars 89 forks source link

Shared memory not working with transient_local durability #401

Open afrixs opened 1 year ago

afrixs commented 1 year ago

Bug report

Required Info:

Steps to reproduce issue

Run robot_state_publisher which publishes to /tf_static using transient_local durability and afterwards create a subscription for the topic.

#Terminal 1
iox-roudi

#Terminal 2
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp CYCLONEDDS_URI="<CycloneDDS><Domain id='any'><SharedMemory><Enable>true</Enable></SharedMemory></Domain></CycloneDDS>" ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="<robot name='test'><link name='base_link'/><link name='imu_link'/><joint name='base_link_to_imu_link' type='fixed'><parent link='base_link'/><child link='imu_link'/></joint></robot>"

#Terminal 3
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp CYCLONEDDS_URI="<CycloneDDS><Domain id='any'><SharedMemory><Enable>true</Enable></SharedMemory></Domain></CycloneDDS>" ros2 topic echo /tf_static --qos-durability transient_local --qos-reliability reliable --qos-depth 1

Expected behavior

A message gets received, although echo is called after publishing the message, because that's what transient_local should take care of.

Actual behavior

No message gets received. If Terminal 2 command is restarted afterwards, the message gets received, but that's not sufficient.

Additional information

When called without shared memory, i.e.

#Terminal 1
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp CYCLONEDDS_URI="<CycloneDDS/>" ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="<robot name='test'><link name='base_link'/><link name='imu_link'/><joint name='base_link_to_imu_link' type='fixed'><parent link='base_link'/><child link='imu_link'/></joint></robot>"

#Terminal 2
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp CYCLONEDDS_URI="<CycloneDDS/>" ros2 topic echo /tf_static --qos-durability transient_local --qos-reliability reliable --qos-depth 1

, everything works as expected.

Note: shared memory document states that Transient Local is supported.

llapx commented 1 year ago

Can not reproduct with latest ros:rolling, can you provide more detail log?

# dpkg -l | grep cyclonedds
ii  ros-rolling-cyclonedds                             0.9.0-1jammy.20220711.134212            amd64        Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation.
ii  ros-rolling-rmw-cyclonedds-cpp                     1.4.0-1jammy.20220711.152242            amd64        Implement the ROS middleware interface using Eclipse CycloneDDS in C++.
afrixs commented 1 year ago

Package versions:

$ dpkg -l | grep -E "cyclonedds|iceoryx|ros2cli|ros-rolling-robot-state-publisher"
ii  ros-rolling-cyclonedds                             0.9.0-1jammy.20220711.134212                                amd64        Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation.
ii  ros-rolling-iceoryx-binding-c                      2.0.2-1jammy.20220711.133552                                amd64        Eclipse iceoryx inter-process-communication (IPC) middleware C-Language Binding
ii  ros-rolling-iceoryx-hoofs                          2.0.2-1jammy.20220711.130813                                amd64        Eclipse iceoryx inter-process-communication (IPC) middleware basic building blocks
ii  ros-rolling-iceoryx-posh                           2.0.2-1jammy.20220711.131117                                amd64        Eclipse iceoryx inter-process-communication (IPC) middleware Posix Shared Memory Library and middleware daemon (RouDi)
ii  ros-rolling-rmw-cyclonedds-cpp                     1.4.0-1jammy.20220726.201039                                amd64        Implement the ROS middleware interface using Eclipse CycloneDDS in C++.
ii  ros-rolling-rmw-cyclonedds-cpp-dbgsym              1.4.0-1jammy.20220726.201039                                amd64        debug symbols for ros-rolling-rmw-cyclonedds-cpp
ii  ros-rolling-robot-state-publisher                  3.1.0-1jammy.20220815.144819                                amd64        This package take the joint angles of a robot as input, and publishes the 3D poses of the robot links to tf2, using a kinematic tree model of the robot.
ii  ros-rolling-ros2cli                                0.19.0-1jammy.20220726.233741                               amd64        Framework for ROS 2 command line tools.
ii  ros-rolling-ros2cli-common-extensions              0.2.0-1jammy.20220727.035404                                amd64        Meta package for ros2cli common extensions

$ iox-roudi -v
RouDi version: 2.0.2
Build date: 2022-07-11T13:11:18Z
Commit ID:

iox-roudi log (+ added separating lines after each step):

$ iox-roudi -l verbose
2022-08-31 10:02:45.197 [ Info  ]: No config file provided and also not found at '/etc/iceoryx/roudi_config.toml'. Falling back to built-in config.
Log level set to: [Verbose]
2022-08-31 10:02:45.197 [Verbose]: Command line parameters are:
Log level: Verbose
Monitoring mode: MonitoringMode::ON
Compatibility check level: CompatibilityCheckLevel::PATCH
Unique RouDi ID: < unset >
Process kill delay: 45 s
Config file used is: < none >
Reserving 66761736 bytes in the shared memory [iceoryx_mgmt]
[ Reserving shared memory successful ]
2022-08-31 10:02:45.233 [ Debug ]: Registered memory segment 0x7ffbc8d72000 with size 66761736 to id 1
Reserving 149264720 bytes in the shared memory [matej]
[ Reserving shared memory successful ]
2022-08-31 10:02:45.312 [ Debug ]: Roudi registered payload data segment 0x7ffbbff18000 with size 149264720 to id 2
RouDi is ready for clients

######################## after running Terminal1 command ############################

2022-08-31 10:03:16.076 [ Debug ]: Registered new application iceoryx_rt_134727_1661932996075633044
2022-08-31 10:03:16.077 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_134727_1661932996075633044
2022-08-31 10:03:16.079 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:03:16.093 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Response_, Event: rr/robot_state_publisher/get_parametersReply'
2022-08-31 10:03:16.103 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'!
2022-08-31 10:03:16.103 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'
2022-08-31 10:03:16.104 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Response_, Event: rr/robot_state_publisher/get_parameter_typesReply'
2022-08-31 10:03:16.115 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'!
2022-08-31 10:03:16.115 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'
2022-08-31 10:03:16.115 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Response_, Event: rr/robot_state_publisher/set_parametersReply'
2022-08-31 10:03:16.126 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'!
2022-08-31 10:03:16.126 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'
2022-08-31 10:03:16.127 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Response_, Event: rr/robot_state_publisher/set_parameters_atomicallyReply'
2022-08-31 10:03:16.137 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'!
2022-08-31 10:03:16.137 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'
2022-08-31 10:03:16.138 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Response_, Event: rr/robot_state_publisher/describe_parametersReply'
2022-08-31 10:03:16.148 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'!
2022-08-31 10:03:16.148 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'
2022-08-31 10:03:16.151 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Response_, Event: rr/robot_state_publisher/list_parametersReply'
2022-08-31 10:03:16.161 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'!
2022-08-31 10:03:16.161 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'
2022-08-31 10:03:16.163 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:03:16.174 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:03:16.177 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf'
2022-08-31 10:03:16.190 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf_static'
2022-08-31 10:03:16.203 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: std_msgs::msg::dds_::String_, Event: rt/robot_description'
2022-08-31 10:03:16.219 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'!
2022-08-31 10:03:16.219 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'
2022-08-31 10:03:16.220 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'

############################## after running Terminal2 command #####################################

2022-08-31 10:03:55.200 [ Debug ]: Registered new application iceoryx_rt_134764_1661933035199407867
2022-08-31 10:03:55.201 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_134764_1661933035199407867
2022-08-31 10:03:55.203 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134764_1661933035199407867' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:03:55.232 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134764_1661933035199407867' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:03:55.465 [ Debug ]: Registered new application iceoryx_rt_134776_1661933035465280738
2022-08-31 10:03:55.467 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_134776_1661933035465280738
2022-08-31 10:03:55.469 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134776_1661933035465280738' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:03:55.500 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134776_1661933035465280738' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:03:55.795 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134764_1661933035199407867' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf_static'

############################### after running Terminal 3 command (no message received) ##########################

2022-08-31 10:04:30.864 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Response_, Event: rr/robot_state_publisher/get_parametersReply'
2022-08-31 10:04:30.864 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Response_, Event: rr/robot_state_publisher/get_parameter_typesReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Response_, Event: rr/robot_state_publisher/set_parametersReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Response_, Event: rr/robot_state_publisher/set_parameters_atomicallyReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Response_, Event: rr/robot_state_publisher/describe_parametersReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Response_, Event: rr/robot_state_publisher/list_parametersReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf_static'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: std_msgs::msg::dds_::String_, Event: rt/robot_description'
2022-08-31 10:04:30.865 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:04:31.816 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:04:31.816 [ Debug ]: Deleted condition variable of applicationiceoryx_rt_134727_1661932996075633044
2022-08-31 10:04:31.816 [ Debug ]: Removed existing application iceoryx_rt_134727_1661932996075633044

################################### after canceling Terminal2 command (Ctrl+C) ###############################

2022-08-31 10:05:21.139 [ Debug ]: Registered new application iceoryx_rt_134862_1661933121138739923
2022-08-31 10:05:21.140 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_134862_1661933121138739923
2022-08-31 10:05:21.142 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:05:21.156 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Response_, Event: rr/robot_state_publisher/get_parametersReply'
2022-08-31 10:05:21.166 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'!
2022-08-31 10:05:21.166 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'
2022-08-31 10:05:21.167 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Response_, Event: rr/robot_state_publisher/get_parameter_typesReply'
2022-08-31 10:05:21.178 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'!
2022-08-31 10:05:21.178 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'
2022-08-31 10:05:21.181 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Response_, Event: rr/robot_state_publisher/set_parametersReply'
2022-08-31 10:05:21.192 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'!
2022-08-31 10:05:21.192 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'
2022-08-31 10:05:21.196 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Response_, Event: rr/robot_state_publisher/set_parameters_atomicallyReply'
2022-08-31 10:05:21.206 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'!
2022-08-31 10:05:21.206 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'
2022-08-31 10:05:21.210 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Response_, Event: rr/robot_state_publisher/describe_parametersReply'
2022-08-31 10:05:21.221 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'!
2022-08-31 10:05:21.221 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'
2022-08-31 10:05:21.224 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Response_, Event: rr/robot_state_publisher/list_parametersReply'
2022-08-31 10:05:21.235 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'!
2022-08-31 10:05:21.235 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'
2022-08-31 10:05:21.239 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:05:21.251 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:05:21.258 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf'
2022-08-31 10:05:21.270 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf_static'
2022-08-31 10:05:21.284 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: std_msgs::msg::dds_::String_, Event: rt/robot_description'
2022-08-31 10:05:21.298 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'!
2022-08-31 10:05:21.298 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'
2022-08-31 10:05:21.299 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'

################################## after re-running Terminal2 command (a message got received) ###################
llapx commented 1 year ago

@afrixs

sorry, I forget to export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp, now I can reproduct the BUG.

afrixs commented 1 year ago

Edited the commands so that this doesn't happen to anyone else

bopeng-saitama commented 1 year ago

@afrixs I also encountered the same issue in my environment. Have you solved the problem? I have made a reproduce repo for this issue. https://github.com/bopeng-saitama/transient_local_iceoryx Steps to reproduce issue:

#Terminal 1
iox-roudi

#Terminal 2
cd ~/transient_local_iceoryx
source /opt/ros/humble/setup.bash
source install/setup.bash
CYCLONEDDS_URI=file://$PWD/cyclonedds.xml ros2 run transient_local_iceoryx transient_local_pub

#Terminal 3
cd ~/transient_local_iceoryx
source /opt/ros/humble/setup.bash
source install/setup.bash
CYCLONEDDS_URI=file://$PWD/cyclonedds.xml ros2 run transient_local_iceoryx transient_local_sub
eboasson commented 1 year ago

The other day I discovered what appeared to be a problem in Iceoryx' handling of publisher histories, where it would receive the data in the Iceoryx subscription but not notify the "application" — here, that would be Cyclone — that there is data ready for reading. Once fresh data arrives, it triggers and suddenly everything shows up.

I'm wondering if this matches the symptom you are observing. I'm not sure whether there is fresh data being published in your case.

Also I haven't reported it to the Iceoryx guys yet.

bopeng-saitama commented 1 year ago

Thanks for the reply.

I'm wondering if this matches the symptom you are observing.

Yes, the symptom is the same as waht I observed.

afrixs commented 1 year ago

@afrixs I also encountered the same issue in my environment. Have you solved the problem?

Unfortunately I haven't... Currently I run nodes which need to publish transient_local topics without shared memory, that's my temporary "workaround"