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No access to uROS topics in another terminal #81

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Jakubach opened this issue Nov 14, 2023 · 11 comments
Open

No access to uROS topics in another terminal #81

Jakubach opened this issue Nov 14, 2023 · 11 comments

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@Jakubach
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Issue template

  • Hardware description: Windows 11, Docker inside VS Code with ROS2
  • OS: Linux
  • Installation type: Installed though first_application_linux
  • Version or commit hash: humble

Steps to reproduce the issue

I followed the tutorial with modified files to make in work on Windows 11.
VS Code configuration:
Dockerfile

FROM osrf/ros:humble-desktop
ARG USERNAME=Jakub
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Create the user
RUN groupadd --gid $USER_GID $USERNAME \
    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
    #
    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
    && apt-get update \
    && apt-get install -y sudo \
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
    && chmod 0440 /etc/sudoers.d/$USERNAME
RUN apt-get update && apt-get upgrade -y
RUN apt-get install -y python3-pip
ENV SHELL /bin/bash

# ********************************************************
# * Anything else you want to do like clean up goes here *
# ********************************************************

# [Optional] Set the default user. Omit if you want to keep the default as root.
USER $USERNAME
CMD ["/bin/bash"]

devcontainer.json

{
    "name": "ROS 2 Development Container",
    "privileged": true,
    "remoteUser": "Jakub",
    "build": {
        "dockerfile": "Dockerfile",
        "args": {
            "USERNAME": "Jakub"
        }
    },
    "workspaceFolder": "/home/ws",
    "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws/src,type=bind",
    "customizations": {
        "vscode": {
            "extensions":[
                "ms-vscode.cpptools",
                "ms-vscode.cpptools-themes",
                "twxs.cmake",
                "donjayamanne.python-extension-pack",
                "eamodio.gitlens",
                "ms-iot.vscode-ros"
            ]
        }
    },
    "containerEnv": {
        "ROS_LOCALHOST_ONLY": "1",
        "ROS_DOMAIN_ID": "42"
    },
    "remoteEnv": {
        "DISPLAY": "host.docker.internal:0"
      },
    "runArgs": [
        "-e", "DISPLAY=${env:DISPLAY}",
        "--gpus=all"
    ],
    "mounts": [
        "source=${localWorkspaceFolder}/../cache/ROS_DISTRO/build,target=/home/ws/build,type=bind",
        "source=${localWorkspaceFolder}/../cache/ROS_DISTRO/install,target=/home/ws/install,type=bind",
        "source=${localWorkspaceFolder}/../cache/ROS_DISTRO/log,target=/home/ws/log,type=bind"
    ],
    "postCreateCommand": "sudo rosdep update && sudo rosdep install --from-paths src --ignore-src -y && sudo chown -R Jakub /home/ws/"
}

Then inside the docker I followed the tutorial. I try to run:
First terminal:

source /opt/ros/$ROS_DISTRO/setup.bash
source install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

Second terminal:

source /opt/ros/$ROS_DISTRO/setup.bash
source install/local_setup.bash

# Use RMW Micro XRCE-DDS implementation
export RMW_IMPLEMENTATION=rmw_microxrcedds

# Run a micro-ROS node
ros2 run micro_ros_demos_rclc ping_pong

Third terminal:

source /opt/ros/$ROS_DISTRO/setup.bash
source install/local_setup.bash
ros2 topic list

Expected behavior

In the third topic I should be able to see topic named /microROS/pong.

Actual behavior

There are only two topics:

/parameter_events
/rosout

Additional information

When I try to run rviz2 its working correctly, I am able to see topics in every terminal.
@pablogs9
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Member

Could you share your micro-ROS Agent output using the flag -v6?

@Jakubach
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Author

Jakubach commented Nov 14, 2023 •
edited
Loading

Output from: ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6 after runnig ros2 run micro_ros_demos_rclc ping_pong and waiting for 7 messages. Also during run I tried in another terminal to list topics.

[1699972747.488465] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1699972747.489088] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1699972759.519727] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x00000000, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 1B 51 62 F7 81 00 FC 01
[1699972759.519891] info     | Root.cpp           | create_client            | create                 | client_key: 0x1B5162F7, session_id: 0x81
[1699972759.520006] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x1B5162F7, address: 127.0.0.1:56253
[1699972759.520132] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1699972759.520344] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 44, data: 
0000: 81 80 00 00 01 07 24 00 00 0A 00 01 01 03 00 00 16 00 00 00 00 01 6F 6D 0E 00 00 00 70 69 6E 67
0020: 70 6F 6E 67 5F 6E 6F 64 65 00 00 00
[1699972759.613692] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x1B5162F7, participant_id: 0x000(1)
[1699972759.613835] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1699972759.613873] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1699972759.613928] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1699972759.711520] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 80, data: 
0000: 81 80 01 00 01 07 47 00 00 0B 00 02 02 03 00 00 39 00 00 00 11 00 00 00 72 74 2F 6D 69 63 72 6F
0020: 52 4F 53 2F 70 69 6E 67 00 00 01 00 1D 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64
0040: 64 73 5F 3A 3A 48 65 61 64 65 72 5F 00 00 01 00
[1699972759.711587] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 01 00 80
[1699972759.711689] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 01 80
[1699972759.711733] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x1B5162F7, topic_id: 0x000(2), participant_id: 0x000(1)
[1699972759.711776] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 80, data: 
0000: 81 80 01 00 01 07 47 00 00 0B 00 02 02 03 00 00 39 00 00 00 11 00 00 00 72 74 2F 6D 69 63 72 6F
0020: 52 4F 53 2F 70 69 6E 67 00 00 01 00 1D 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64
0040: 64 73 5F 3A 3A 48 65 61 64 65 72 5F 00 00 01 00
[1699972759.711795] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 02 00 00
[1699972759.711839] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1699972759.711879] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1699972759.711889] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1699972759.711942] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 24, data: 
0000: 81 80 02 00 01 07 10 00 00 0C 00 03 03 03 00 00 02 00 00 00 00 00 00 01
[1699972759.712030] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x1B5162F7, publisher_id: 0x000(3), participant_id: 0x000(1)
[1699972759.712105] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0C 00 03 00 00
[1699972759.712139] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1699972759.712148] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1699972759.712222] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 36, data: 
0000: 81 80 03 00 01 07 1C 00 00 0D 00 05 05 03 00 00 0E 00 00 00 00 02 01 00 03 00 01 EB 0A 00 00 00
0020: 00 00 00 03
[1699972759.712592] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x1B5162F7, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1699972759.712666] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0D 00 05 00 00
[1699972759.712701] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1699972759.712714] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1699972759.712766] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 80, data: 
0000: 81 80 04 00 01 07 47 00 00 0E 00 12 02 03 00 00 39 00 00 00 11 00 00 00 72 74 2F 6D 69 63 72 6F
0020: 52 4F 53 2F 70 6F 6E 67 00 00 01 00 1D 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64
0040: 64 73 5F 3A 3A 48 65 61 64 65 72 5F 00 00 01 00
[1699972759.712823] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x1B5162F7, topic_id: 0x001(2), participant_id: 0x000(1)
[1699972759.712911] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 04 00 05 01 06 00 00 0E 00 12 00 00
[1699972759.712941] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1699972759.712988] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1699972759.713032] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 24, data: 
0000: 81 80 05 00 01 07 10 00 00 0F 00 13 03 03 00 00 02 00 00 00 00 00 00 01
[1699972759.713122] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x1B5162F7, publisher_id: 0x001(3), participant_id: 0x000(1)
[1699972759.713241] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 05 00 05 01 06 00 00 0F 00 13 00 00
[1699972759.713273] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1699972759.713281] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1699972759.713360] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 36, data: 
0000: 81 80 06 00 01 07 1C 00 00 10 00 15 05 03 00 00 0E 00 00 00 00 12 01 00 02 00 01 FF 05 00 00 00
0020: 00 00 00 13
[1699972759.713615] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x1B5162F7, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1699972759.713738] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 06 00 05 01 06 00 00 10 00 15 00 00
[1699972759.713770] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1699972759.713779] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1699972759.713859] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 80, data: 
0000: 81 80 07 00 01 07 47 00 00 11 00 22 02 03 00 00 39 00 00 00 11 00 00 00 72 74 2F 6D 69 63 72 6F
0020: 52 4F 53 2F 70 69 6E 67 00 00 01 00 1D 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64
0040: 64 73 5F 3A 3A 48 65 61 64 65 72 5F 00 00 01 00
[1699972759.713922] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x1B5162F7, topic_id: 0x002(2), participant_id: 0x000(1)
[1699972759.713993] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 07 00 05 01 06 00 00 11 00 22 00 00
[1699972759.714025] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1699972759.714033] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1699972759.714109] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 24, data: 
0000: 81 80 08 00 01 07 10 00 00 12 00 04 04 03 00 00 02 00 00 00 00 00 00 01
[1699972759.714197] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x1B5162F7, subscriber_id: 0x000(4), participant_id: 0x000(1)
[1699972759.714273] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 08 00 05 01 06 00 00 12 00 04 00 00
[1699972759.714309] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 09 00 00 00 80
[1699972759.714317] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 09 00 00 00 80
[1699972759.714397] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 40, data: 
0000: 81 80 09 00 01 07 1D 00 00 13 00 06 06 03 00 00 0F 00 00 00 00 22 01 52 02 00 01 00 05 00 00 00
0020: 00 00 00 00 04 00 00 00
[1699972759.714742] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x1B5162F7, datareader_id: 0x000(6), subscriber_id: 0x000(4)
[1699972759.714813] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 09 00 05 01 06 00 00 13 00 06 00 00
[1699972759.714847] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0A 00 00 00 80
[1699972759.714855] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0A 00 00 00 80
[1699972759.714944] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 100, data: 
0000: 81 80 0A 00 08 01 10 00 00 14 00 06 01 00 00 01 FF FF 00 00 00 00 00 00 01 07 47 00 00 15 00 32
0020: 02 03 00 00 39 00 00 00 11 00 00 00 72 74 2F 6D 69 63 72 6F 52 4F 53 2F 70 6F 6E 67 00 00 01 00
0040: 1D 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 48 65 61 64 65 72 5F
0060: 00 00 01 00
[1699972759.715074] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x1B5162F7, topic_id: 0x003(2), participant_id: 0x000(1)
[1699972759.715154] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 0A 00 05 01 06 00 00 15 00 32 00 00
[1699972759.715185] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0B 00 00 00 80
[1699972759.715198] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0B 00 00 00 80
[1699972759.715272] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 24, data: 
0000: 81 80 0B 00 01 07 10 00 00 16 00 14 04 03 00 00 02 00 00 00 00 00 00 01
[1699972759.715338] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x1B5162F7, subscriber_id: 0x001(4), participant_id: 0x000(1)
[1699972759.715423] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 0B 00 05 01 06 00 00 16 00 14 00 00
[1699972759.715472] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0C 00 00 00 80
[1699972759.715486] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0C 00 00 00 80
[1699972759.715570] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 40, data: 
0000: 81 80 0C 00 01 07 1D 00 00 17 00 16 06 03 00 00 0F 00 00 00 00 32 01 00 02 00 01 FF 05 00 00 00
0020: 00 00 00 00 14 00 00 00
[1699972759.715886] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x1B5162F7, datareader_id: 0x001(6), subscriber_id: 0x001(4)
[1699972759.715979] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 14, data: 
0000: 81 80 0C 00 05 01 06 00 00 17 00 16 00 00
[1699972759.716016] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0D 00 00 00 80
[1699972759.716035] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0D 00 00 00 80
[1699972759.716309] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 24, data: 
0000: 81 80 0D 00 08 01 10 00 00 18 00 16 01 00 00 01 FF FF 00 00 00 00 00 00
[1699972759.716983] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0E 00 00 00 80
[1699972761.716603] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 48, data: 
0000: 81 80 0E 00 07 01 26 00 00 19 00 05 99 86 53 65 90 6D B4 2A 16 00 00 00 31 31 32 34 35 32 39 35
0020: 32 39 5F 31 37 30 33 31 37 31 31 37 32 00 00 00
[1699972761.716797] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 34, data: 
0000: 99 86 53 65 90 6D B4 2A 16 00 00 00 31 31 32 34 35 32 39 35 32 39 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972761.716864] debug    | DataReader.cpp     | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000000, len: 34, data: 
0000: 99 86 53 65 90 6D B4 2A 16 00 00 00 31 31 32 34 35 32 39 35 32 39 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972761.716926] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0F 00 00 00 80
[1699972761.716957] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 46, data: 
0000: 81 01 00 00 09 01 26 00 00 14 00 06 99 86 53 65 90 6D B4 2A 16 00 00 00 31 31 32 34 35 32 39 35
0020: 32 39 5F 31 37 30 33 31 37 31 31 37 32 00
[1699972763.716983] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 48, data: 
0000: 81 80 0F 00 07 01 25 00 00 1A 00 05 9B 86 53 65 94 F5 B9 2A 15 00 00 00 38 39 38 34 32 38 31 33
0020: 32 5F 31 37 30 33 31 37 31 31 37 32 00 00 00 00
[1699972763.717201] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 33, data: 
0000: 9B 86 53 65 94 F5 B9 2A 15 00 00 00 38 39 38 34 32 38 31 33 32 5F 31 37 30 33 31 37 31 31 37 32
0020: 00
[1699972763.717258] debug    | DataReader.cpp     | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000000, len: 33, data: 
0000: 9B 86 53 65 94 F5 B9 2A 15 00 00 00 38 39 38 34 32 38 31 33 32 5F 31 37 30 33 31 37 31 31 37 32
0020: 00
[1699972763.717379] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 10 00 00 00 80
[1699972763.717428] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 45, data: 
0000: 81 01 01 00 09 01 25 00 00 14 00 06 9B 86 53 65 94 F5 B9 2A 15 00 00 00 38 39 38 34 32 38 31 33
0020: 32 5F 31 37 30 33 31 37 31 31 37 32 00
[1699972765.717574] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 48, data: 
0000: 81 80 10 00 07 01 26 00 00 1B 00 05 9D 86 53 65 E8 91 BF 2A 16 00 00 00 31 35 33 37 31 39 30 36
0020: 31 30 5F 31 37 30 33 31 37 31 31 37 32 00 00 00
[1699972765.718174] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 34, data: 
0000: 9D 86 53 65 E8 91 BF 2A 16 00 00 00 31 35 33 37 31 39 30 36 31 30 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972765.718251] debug    | DataReader.cpp     | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000000, len: 34, data: 
0000: 9D 86 53 65 E8 91 BF 2A 16 00 00 00 31 35 33 37 31 39 30 36 31 30 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972765.718709] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 11 00 00 00 80
[1699972765.718880] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 46, data: 
0000: 81 01 02 00 09 01 26 00 00 14 00 06 9D 86 53 65 E8 91 BF 2A 16 00 00 00 31 35 33 37 31 39 30 36
0020: 31 30 5F 31 37 30 33 31 37 31 31 37 32 00
[1699972767.716147] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 48, data: 
0000: 81 80 11 00 07 01 26 00 00 1C 00 05 9F 86 53 65 28 A0 AD 2A 16 00 00 00 31 31 30 32 31 35 30 35
0020: 34 37 5F 31 37 30 33 31 37 31 31 37 32 00 00 00
[1699972767.716369] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 34, data: 
0000: 9F 86 53 65 28 A0 AD 2A 16 00 00 00 31 31 30 32 31 35 30 35 34 37 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972767.716398] debug    | DataReader.cpp     | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000000, len: 34, data: 
0000: 9F 86 53 65 28 A0 AD 2A 16 00 00 00 31 31 30 32 31 35 30 35 34 37 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972767.716496] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 12 00 00 00 80
[1699972767.716509] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 46, data: 
0000: 81 01 03 00 09 01 26 00 00 14 00 06 9F 86 53 65 28 A0 AD 2A 16 00 00 00 31 31 30 32 31 35 30 35
0020: 34 37 5F 31 37 30 33 31 37 31 31 37 32 00
[1699972769.717092] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 48, data: 
0000: 81 80 12 00 07 01 25 00 00 1D 00 05 A1 86 53 65 78 0F BC 2A 15 00 00 00 37 34 30 30 39 30 31 36
0020: 36 5F 31 37 30 33 31 37 31 31 37 32 00 00 00 00
[1699972769.717269] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 33, data: 
0000: A1 86 53 65 78 0F BC 2A 15 00 00 00 37 34 30 30 39 30 31 36 36 5F 31 37 30 33 31 37 31 31 37 32
0020: 00
[1699972769.717315] debug    | DataReader.cpp     | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000000, len: 33, data: 
0000: A1 86 53 65 78 0F BC 2A 15 00 00 00 37 34 30 30 39 30 31 36 36 5F 31 37 30 33 31 37 31 31 37 32
0020: 00
[1699972769.717405] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 13 00 00 00 80
[1699972769.717437] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 45, data: 
0000: 81 01 04 00 09 01 25 00 00 14 00 06 A1 86 53 65 78 0F BC 2A 15 00 00 00 37 34 30 30 39 30 31 36
0020: 36 5F 31 37 30 33 31 37 31 31 37 32 00
[1699972771.716913] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 48, data: 
0000: 81 80 13 00 07 01 26 00 00 1E 00 05 A3 86 53 65 FC 05 BA 2A 16 00 00 00 31 30 39 32 35 33 30 35
0020: 30 34 5F 31 37 30 33 31 37 31 31 37 32 00 00 00
[1699972771.717084] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 34, data: 
0000: A3 86 53 65 FC 05 BA 2A 16 00 00 00 31 30 39 32 35 33 30 35 30 34 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972771.717132] debug    | DataReader.cpp     | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000000, len: 34, data: 
0000: A3 86 53 65 FC 05 BA 2A 16 00 00 00 31 30 39 32 35 33 30 35 30 34 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972771.717213] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 14 00 00 00 80
[1699972771.717243] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 46, data: 
0000: 81 01 05 00 09 01 26 00 00 14 00 06 A3 86 53 65 FC 05 BA 2A 16 00 00 00 31 30 39 32 35 33 30 35
0020: 30 34 5F 31 37 30 33 31 37 31 31 37 32 00
[1699972773.717564] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x1B5162F7, len: 48, data: 
0000: 81 80 14 00 07 01 26 00 00 1F 00 05 A5 86 53 65 34 C2 C0 2A 16 00 00 00 32 31 31 36 35 31 30 38
0020: 38 34 5F 31 37 30 33 31 37 31 31 37 32 00 00 00
[1699972773.718172] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 34, data: 
0000: A5 86 53 65 34 C2 C0 2A 16 00 00 00 32 31 31 36 35 31 30 38 38 34 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972773.718299] debug    | DataReader.cpp     | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000000, len: 34, data: 
0000: A5 86 53 65 34 C2 C0 2A 16 00 00 00 32 31 31 36 35 31 30 38 38 34 5F 31 37 30 33 31 37 31 31 37
0020: 32 00
[1699972773.718673] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 15 00 00 00 80
[1699972773.718825] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x1B5162F7, len: 46, data: 
0000: 81 01 06 00 09 01 26 00 00 14 00 06 A5 86 53 65 34 C2 C0 2A 16 00 00 00 32 31 31 36 35 31 30 38
0020: 38 34 5F 31 37 30 33 31 37 31 31 37 32 00

@pablogs9
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Does it works if you do in ROS 2 terminal: ros2 daemon stop and the ROS_DOMAIN_ID=0 ros2 topic list ?

@Jakubach
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No, unfortunately. I tried to write it in each terminal but that does not help.

@pablogs9
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What does means "When I try to run rviz2 its working correctly, I am able to see topics in every terminal." ??

@Jakubach
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Jakubach commented Nov 14, 2023 •
edited
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When I start rviz2, then I can see topics in another terminals:

/clicked_point
/goal_pose
/initialpose
/parameter_events
/rosout
/tf
/tf_static

but when I would like to see topics from micro-ros example then it is impossible.

@pablogs9
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The micro-ROS Agent is working properly since it is publishing and subscribing to DDS/ROS2 dataspace as you can see in the log ( <<DDS>> and >> DDS <<). You need to check if your docker configuration allows you to communicate via DDS with the instance where you are running the ROS 2 CLI.

@Jakubach
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Jakubach commented Nov 14, 2023 •
edited
Loading

I just checked another example from eProsima and it works correctly in every terminal.

  1. Launch a micro-ROS Agent with: ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6

  2. Launch a micro-ROS Client publisher application: ros2 run micro_ros_demos_rclc int32_publisher

  3. Launch a micro-ROS Client subscriber application: ros2 run micro_ros_demos_rclc int32_subscriber

The problem is probably caused by this line during launching the not working example:

# Use RMW Micro XRCE-DDS implementation
export RMW_IMPLEMENTATION=rmw_microxrcedds

But without this line the example is not even starting properly so I am not able to run it. Also with this line the above example with int32_publisher is also not working (not showing topics).

@flabrosse
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Same problem here, and I am not using docker.

Trying the pingpong node, and not getting any topics from uros.

@flabrosse
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When I try the int32 publisher and subscriber examples, I can't see a topic when only the publisher is started. Once the subscriber is started, then I can see the /std_msgs_msg_Int32 topic, and info -v indicates that there are two subscribers to it, both int32_subscriber_rclc, and no publishers.

@flabrosse
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Another piece of info: When I run the node int32_publisher only, ros2 node list shows no running node. If I then also run int32_subscriber then the node is listed as running, but only this one, still not the publisher.

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@pablogs9 @flabrosse @Jakubach