fujitatomoya
commented
2 weeks ago @artemprudnikovuae
this can be reproducible with latest rolling build.
i think this is related to https://docs.ros.org/en/rolling/Tutorials/Advanced/Discovery-Server/Discovery-Server.html#fast-dds-discovery-server-v2, that i think daemon or ros2cli commands are left unmatched since they are not actually starting the communication with other endpoints? i may be wrong...
@MiguelCompany @Mario-DL any thoughts? can the server discovery fall back to v1 behavior?
We have 2 physical machines in one local network
Ubuntu 24.04 ros2 jazzy run on the server
fastdds discovery -i 0 -t 192.168.10.52 -q 42100
1 terminal export ROS_DISCOVERY_SERVER=TCPv4:[192.168.10.52]:42100 export ROS_SUPER_CLIENT=TRUE ros2 run demo_nodes_cpp listener
2 terminal
export ROS_DISCOVERY_SERVER=TCPv4:[192.168.10.52]:42100 export ROS_SUPER_CLIENT=TRUE ros2 run demo_nodes_cpp talker
talker - starts publishing messages and they are visible in the listener terminal
3 terminal export ROS_DISCOVERY_SERVER=TCPv4:[192.168.10.52]:42100 export ROS_SUPER_CLIENT=TRUE ros2 daemon stop ros2 daemon start ros2 topic list /chatter /parameter_events /rosout --- so far so good
ros2 topic list --no-daemon /chatter /parameter_events /rosout -- so good too
BUT when trying to get node list I get empty
ros2 node list - EMPTY response ros2 node list --no-daemon -- so EMPTY too
on 2 physical machine 1 terminal export ROS_DISCOVERY_SERVER=TCPv4:[192.168.10.52]:42100 export ROS_SUPER_CLIENT=TRUE ros2 run demo_nodes_cpp listener
-- we see the published messages of the 1st machine - everything is fine here
2nd terminal export ROS_DISCOVERY_SERVER=TCPv4:[192.168.10.52]:42100 export ROS_SUPER_CLIENT=TRUE ros2 run demo_nodes_cpp talker
after that, the messages of the 2nd talker are published in turn in 2nd listener - everything is fine here
3rd terminal export ROS_DISCOVERY_SERVER=TCPv4:[192.168.10.52]:42100 export ROS_SUPER_CLIENT=TRUE ros2 node list - the answer is EMPTY ros2 node list --no-daemon -- also EMPTY
the problem is inside ROS2 jazzy so as tests showed, with the following settings fastdds discovery and ROS_DISCOVERY_SERVER
TCPv4:[127.0.0.1]:42100 - ros2 node list or ros2 node list --no-daemon - EMPTY TCPv4:[192.168.10.52]:42100 - ros2 node list or ros2 node list --no-daemon- EMPTY
UDP 127.0.0.1:11811 - ros2 node list - OK - that's how it works but with ros2 node list --no-daemon - EMPTY 192.168.10.52:11811 - ros2 node list - OK - that's how it works but with ros2 node list --no-daemon - EMPTY
on 2 machines, just in case, we check that the port is available and repeat the test nc -uv 192.168.10.52 11811 Connection to 192.168.10.52 11811 port [udp/*] succeeded!
export ROS_SUPER_CLIENT=TRUE export ROS_DISCOVERY_SERVER=192.168.10.52:11811
ros2 node list - answer EMPTY ros2 node list --no-daemon -- also EMPTY
try to solve the problem of displaying the node list because I need to use rviz2 on a remote machine
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