Cannot fully start micro-ros-agent without first disconnecting MCU
Closed this issue · 3 comments
Hi there! I was wondering if I always have to first disconnnect my micro-controller from the host PC before running the micro-ros-agent and then reconnecting the micro-controller to complete a successful 'handshake' between the agent and the micro-controller.
Setup
- Hardware description: ESP32 with serial connection, Ubuntu 22.04 Host PC
- Installation type: ROS2 Humble Hawksbill installed using https://docs.ros.org/en/humble/Installation.html and microROS installed as per https://micro.ros.org//docs/tutorials/core/teensy_with_arduino/ and https://github.com/micro-ROS/micro_ros_platformio for ESP32.
- Version or commit hash: humble
Steps to reproduce the issue
First scenario: Micro-controller is disconnect from host PC and I run:
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 -v6This produces:
[1697184634.436365] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyUSB0, error 2, waiting for connection...
[1697184635.442714] info | TermiosAgentLinux.cpp | init | Serial port not found. | device: /dev/ttyUSB0, error 2, waiting for connection...The micro is then plugged into the host PC via USB, resulting in the agent being set up completely. It creates the client, session, participants, topics, datawriters, publishers...
[1697184669.369164] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1697184669.369615] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6
[1697184669.526507] info | Root.cpp | create_client | create | client_key: 0x31656C75, session_id: 0x81
[1697184669.526586] info | SessionManager.hpp | establish_session | session established | client_key: 0x31656C75, address: 0
[1697184669.526776] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x31656C75, len: 19, data:
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1697184669.539784] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x31656C75, len: 52, data:
0000: 81 80 00 00 01 07 2A 00 00 0A 00 01 01 03 00 00 1B 00 00 00 00 01 FB 3F 13 00 00 00 48 69 77 6F
0020: 6E 64 65 72 5F 78 41 72 6D 5F 6E 6F 64 65 00 00 00 00 00 00
[1697184669.558660] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x31656C75, participant_id: 0x000(1)
[1697184669.558837] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x31656C75, len: 14, data:
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1697184669.558873] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x31656C75, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1697184669.569700] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x31656C75, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1697184669.576870] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x31656C75, len: 96, data:
0000: 81 80 01 00 01 07 56 00 00 0B 00 02 02 03 00 00 48 00 00 00 17 00 00 00 72 74 2F 73 65 72 76 6F
0020: 5F 70 6F 73 5F 70 75 62 6C 69 73 68 65 72 00 00 01 BB 40 3F 24 00 00 00 73 65 6E 73 6F 72 5F 6D
0040: 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 4A 6F 69 6E 74 53 74 61 74 65 5F 00 00 01 00 00
[1697184669.577798] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x31656C75, topic_id: 0x000(2), participant_id: 0x000(1)
[1697184669.578148] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x31656C75, len: 14, data:
0000: 81 80 01 00 05 01 06 00 00 0B 00 02 00 00
[1697184669.578243] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x31656C75, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1697184669.590752] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x31656C75, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1697184669.590832] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x31656C75, 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
[1697184669.591047] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x31656C75, publisher_id: 0x000(3), participant_id: 0x000(1)
[1697184669.591225] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x31656C75, len: 14, data:
0000: 81 80 02 00 05 01 06 00 00 0C 00 03 00 00
[1697184669.591250] debug | SerialAgentLinux.cpp | send_message | [** <<SER>> **] | client_key: 0x31656C75, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1697184669.603837] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x31656C75, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1697184669.603892] debug | SerialAgentLinux.cpp | recv_message | [==>> SER <<==] | client_key: 0x31656C75, 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 3F 03 00 01 00 0A 00 00 00
0020: 00 00 00 03The program works fine like this.
Second scenario: The micro-controller is already connected to the host PC and I run:
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 -v6This only results in:
[1697184677.461765] info | TermiosAgentLinux.cpp | init | running... | fd: 3
[1697184677.462048] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6and the setup is not complete.
Is there some way to get around this so that I do not have to disconnect my micro every time I want to start my micro-ros-agent?
Any help is greatly appreciated, thank you.
micro-ROS does not handle reconnections to the agent. You need to implement it in your application.
Please read these documents:
Thank you very much for the feedback!
micro-ROS does not handle reconnections to the agent. You need to implement it in your application.
Please read these documents:
Following these got it working very nicely, thank you!