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ros2 / rmw_zenoh

RMW for ROS 2 using Zenoh as the middleware
Apache License 2.0
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Sync past tokio bump and drop thread restriction #134

Closed Yadunund closed 4 months ago

Yadunund commented 6 months ago

Undo thread limits imposed by https://github.com/ros2/rmw_zenoh/pull/95 by syncing to zenoh version with tokio async runtime.

To be tested.

JEnoch commented 6 months ago

In my tests with Iron + rmw_zenoh_cpp the Navigation + Turtlebot3 example was failing (RViz not displaying the map). However after bumping zenoh-c to commit 5b472166fe01d358431b25608aa50db6bb23a5e1 it was successful.

I think the Zenoh fixes https://github.com/eclipse-zenoh/zenoh/pull/853 and https://github.com/eclipse-zenoh/zenoh/pull/861 played a role in this.

However, I still get failures with the Open-RMF Office World, with those repetitive logs:

[gzserver-17] [ERROR] [1711624918.958884561] [slotcar_OpenRobotics/MiR100]: Unable to determine the current level_name for robot [OpenRobotics/MiR100]. Kindly ensure the building_map_server is running. The RobotState message forthis robot will not be published.
[gzserver-17] [ERROR] [1711624918.958973071] [slotcar_tinyRobot1]: Unable to determine the current level_name for robot [tinyRobot1]. Kindly ensure the building_map_server is running. The RobotState message forthis robot will not be published.
[gzserver-17] [ERROR] [1711624918.959000831] [slotcar_tinyRobot2]: Unable to determine the current level_name for robot [tinyRobot2]. Kindly ensure the building_map_server is running. The RobotState message forthis robot will not be published.

I'm investigating...

Yadunund commented 6 months ago

I can also reproduce the same results as you @JEnoch...

Yadunund commented 6 months ago

@JEnoch i'm still unable to repeatably launch the hotel world from rmf_demos. In the screenshot below, RViz does not receive the BuildingMap message form the building_map_server. The fleet_adapter nodes also do not receive any RobotState message over /robot_state and hence do not initialize. This was tested within a clean worksapce with Iron binaries of ROS 2 and Open-RMF. I do see better results when I re-introduce the thread restriction to 1 but also not consistent.

ros2 launch rmf_demos_gz hotel.launch.xml

image

Will continue testing...

Yadunund commented 4 months ago

The issues have been resolved by https://github.com/ros2/rmw_zenoh/pull/164. Going ahead and merging this PR.