Client is deleted with mRo Control Zero H7
gorghino opened this issue · 2 comments
gorghino commented
Hi,
I flashed the latest PX4 repo in my mRo Control Zero H7.
I'm actually synced with this PR (PX4/PX4-Autopilot#20812) that fixes a problem with nuttx, otherwise the latest working PX4 version is the commit before 21 Nov (PX4/PX4-Autopilot#20793).
In my SD card I put microdds_client start -t serial -d /dev/ttyS1 -b 115200 in extras.txt.
On my Nvidia NX (Jetpack 5.0.2 - Ubuntu 20.04) I installed ROS2 humble by sources and I cloned micro-ROS-Agent in my workspace. No errors with compiling everything.
When I run ./build/micro_ros_agent/micro_ros_agent serial -D /dev/ttyTHS1 -b 115200 I can see it starting and subscribing the topics from PX4 but after 2/3sec the client is deleted and the session is closed. Then the session is either established or re-established.
[1672233093.421832] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1672233093.422874] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[1672233104.307837] info | Root.cpp | create_client | create | client_key: 0x00000001, session_id: 0x81
[1672233104.308323] info | SessionManager.hpp | establish_session | session established | client_key: 0x00000001, address: 1
[1672233104.395390] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x00000001, participant_id: 0x001(1)
[1672233104.414770] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3E8(2), participant_id: 0x001(1)
[1672233104.415100] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3E8(4), participant_id: 0x001(1)
[1672233104.416100] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3E8(6), subscriber_id: 0x3E8(4)
[1672233104.439207] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3E9(2), participant_id: 0x001(1)
[1672233104.439447] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3E9(4), participant_id: 0x001(1)
[1672233104.440339] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3E9(6), subscriber_id: 0x3E9(4)
[1672233104.463996] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EA(2), participant_id: 0x001(1)
[1672233104.464295] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EA(4), participant_id: 0x001(1)
[1672233104.465774] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EA(6), subscriber_id: 0x3EA(4)
[1672233104.487957] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EB(2), participant_id: 0x001(1)
[1672233104.488238] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EB(4), participant_id: 0x001(1)
[1672233104.489680] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EB(6), subscriber_id: 0x3EB(4)
[1672233104.517728] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0A1(2), participant_id: 0x001(1)
[1672233104.518132] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0A1(3), participant_id: 0x001(1)
[1672233104.519725] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0A1(5), publisher_id: 0x0A1(3)
[1672233104.544851] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0A8(2), participant_id: 0x001(1)
[1672233104.545183] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0A8(3), participant_id: 0x001(1)
[1672233104.546852] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0A8(5), publisher_id: 0x0A8(3)
[1672233104.572646] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x009(2), participant_id: 0x001(1)
[1672233104.573022] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x009(3), participant_id: 0x001(1)
[1672233104.574964] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x009(5), publisher_id: 0x009(3)
[1672233104.866546] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0AC(2), participant_id: 0x001(1)
[1672233104.867773] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0AC(3), participant_id: 0x001(1)
[1672233104.873510] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0AC(5), publisher_id: 0x0AC(3)
[1672233106.198530] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0DE(2), participant_id: 0x001(1)
[1672233106.199584] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x00000001, publisher_id: 0x0DE(3), participant_id: 0x001(1)
[1672233106.204974] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x00000001, datawriter_id: 0x0DE(5), publisher_id: 0x0DE(3)
[1672233106.438109] info | Root.cpp | delete_client | delete | client_key: 0x00000001
[1672233106.438547] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x00000001, address: 1
[1672233106.439388] info | Root.cpp | create_client | create | client_key: 0x00000001, session_id: 0x81
[1672233106.439504] info | SessionManager.hpp | establish_session | session established | client_key: 0x00000001, address: 1
[1672233106.491187] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x00000001, participant_id: 0x001(1)
[1672233106.510310] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3E8(2), participant_id: 0x001(1)
[1672233106.510564] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3E8(4), participant_id: 0x001(1)
[1672233106.511468] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3E8(6), subscriber_id: 0x3E8(4)
[1672233106.536030] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3E9(2), participant_id: 0x001(1)
[1672233106.537162] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3E9(4), participant_id: 0x001(1)
[1672233106.539827] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3E9(6), subscriber_id: 0x3E9(4)
[1672233106.561140] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EA(2), participant_id: 0x001(1)
[1672233106.561386] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EA(4), participant_id: 0x001(1)
[1672233106.562351] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EA(6), subscriber_id: 0x3EA(4)
[1672233106.585070] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EB(2), participant_id: 0x001(1)
[1672233106.585313] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EB(4), participant_id: 0x001(1)
[1672233106.586209] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EB(6), subscriber_id: 0x3EB(4)
[1672233108.606311] info | Root.cpp | delete_client | delete | client_key: 0x00000001
[1672233108.606759] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x00000001, address: 1
[1672233109.619715] info | Root.cpp | create_client | create | client_key: 0x00000001, session_id: 0x81
[1672233109.619825] info | SessionManager.hpp | establish_session | session established | client_key: 0x00000001, address: 1
[1672233109.647632] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x00000001, participant_id: 0x001(1)
[1672233109.666947] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3E8(2), participant_id: 0x001(1)
[1672233109.667222] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3E8(4), participant_id: 0x001(1)
[1672233109.668187] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3E8(6), subscriber_id: 0x3E8(4)
[1672233109.692823] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3E9(2), participant_id: 0x001(1)
[1672233109.693063] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3E9(4), participant_id: 0x001(1)
[1672233109.694111] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3E9(6), subscriber_id: 0x3E9(4)
[1672233109.717239] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EA(2), participant_id: 0x001(1)
[1672233109.717469] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EA(4), participant_id: 0x001(1)
[1672233109.718598] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EA(6), subscriber_id: 0x3EA(4)
[1672233109.741280] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x3EB(2), participant_id: 0x001(1)
[1672233109.741535] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x00000001, subscriber_id: 0x3EB(4), participant_id: 0x001(1)
[1672233109.742528] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x3EB(6), subscriber_id: 0x3EB(4)
The flight controller is powered via an external bench power supply (5V 1A).
I tried a Pixhawke 6C with latest PX4 (cloned by main repo), and the session is not closed and micro-ros-agent works.
I tried the same mRo FC with a second NVIDIA NX, same OS where we installed ROS2 Foxy by binaries. I have the same behavior with micro-ROS-Agent (latest commit with foxy branch).
To Reproduce
Steps to reproduce the behaviour:
- Get a mRo Control Zero H7
- Clone latest PX4 and apply the PR:
make mro_ctrl-zero-h7-oem
- Flash mro_ctrl-zero-h7-oem_default.px4 with QGroundControl or similar
- Add
microdds_client start -t serial -d /dev/ttyS1 -b 115200in SD's /etc/extras.txt. - Wire the mRO to a UART (Ubuntu 20.04)
- Compile micro-ros-agent (according to your ROS2)
git clone -b humble https://github.com/micro-ROS/micro-ROS-Agent && rosdep update && rosdep install --from-paths src --ignore-src -y && colcon build --packages-select micro_ros_agent - Run micro-ros-agent after sourcing ROS2 and your workspace
. ~/ros2_humble/install/setup.bash
. install/setup.bash
./build/micro_ros_agent/micro_ros_agent serial -D /dev/ttyTHS1 -b 115200
Expected behaviour
micro-ros-agent shall start, subcribe the topics and never lose/delete the session
System information (please complete the following information):
- OS: Ubuntu 20.04 - NVIDIA NX (Carrier board) - Jetpack 5.0.2
- ROS 2 Humble (Tested also with Foxy)
- Version: 0e41ea6
LOG with v6 flag:
micro-ros-agent-v6-mro.log
gorghino commented
I chcked the logging module on the mro and apparently micro-ros-agent is complaining about a missing ping:
Checking PX4 code along with my Agent v6 debug, I think that
[1672235108.800513] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x00000001, len: 16, data:
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
is the PING requested by dds_client.
After that I have a 4 DDS write and then two send_message
[1672235108.801955] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x00000001, len: 32, data:
0000: 81 00 00 00 0F 01 18 00 64 48 AC 63 55 6A CA 2F 64 48 AC 63 95 69 CA 2F 02 00 00 00 88 E8 14 16
[1672235108.802859] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x00000001, len: 36, data:
0000: 81 00 00 00 06 01 1C 00 00 0A FF FD 00 01 01 0D 58 52 43 45 01 00 01 0F 00 01 0D 00 01 00 00 00
0020: 00 00 00 00
I don't know how to decode them though. Aren't they ok as PONG?
pablogs9 commented
I guess that this shall be moved to PX4 client.