ros2/rmw_cyclonedds

Got "unknown source entity, ignore." when only use shared memory

ipa-rwu opened this issue · 0 comments

ipa-rwu commented

Bug report

I run RouDi, talker, and listener in different docker containers as follows. But I got an error

cyclonedds_shm-listener-1           | 1700235858.347359 [42]   listener: unknown source entity, ignore.

image

Required Info:

  • Operating System:
    • Ubuntu 22.04.3 amd64
  • Installation type:
    • binaries
  • Version or commit hash:
    • 1.3.4
  • DDS implementation:
    • CycloneDDS
  • Client library (if applicable):
    • rmw_cyclonedds_cpp

Steps to reproduce issue

You can reproduce it from here

  • compose.cyclone.yaml 
    <?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/iceoryx/etc/cyclonedds.xsd">
    <Tracing>
        <Category>shm</Category>
        <OutputFile>stdout</OutputFile>
    </Tracing>
    <Domain id="any">
        <SharedMemory>
            <Enable>true</Enable>
            <LogLevel>debug</LogLevel>
        </SharedMemory>
    </Domain>
    <!-- default setting -->
    <General>
        <NetworkInterfaceAddress>${NETINTERFACE}</NetworkInterfaceAddress>
        <AllowMulticast>false</AllowMulticast>
    </General>
</CycloneDDS>
  • docker compose file
    • Connect to a docker network (driver: bridge)
    • Use shared volumes: 
      - /dev:/dev
- /tmp:/tmp
  • iox_config.toml 
    [general]
version = 1

[[segment]]

[[segment.mempool]]
size = 16448
count = 32768

Expected behavior

Listener should get messages from a talker

Actual behavior

got an error

cyclonedds_shm-listener-1           | 1700235858.347359 [42]   listener: unknown source entity, ignore.

Logs

  • Logs from listener 
    1700245907.552078 [42]   listener: Current process name for iceoryx is iceoryx_rt_110_1700245907551841083
2023-11-17 18:31:47.552 [ Debug ]: Application registered management segment 0x7f62259c9000 with size 67816280 to id 1
2023-11-17 18:31:47.553 [ Debug ]: Application registered payload data segment 0x7f6205689000 with size 540278784 to id 2
1700245907.553389 [42]   listener: My iceoryx address: 16/[02:42:ac:12:00:04:00:00:00:00:00:00:00:00:00:00]:0
1700245907.554544 [42]   listener: Writer's topic name will be DDS:Cyclone:ros_discovery_info
1700245907.555953 [42]   listener: Writer's topic name will be DDS:Cyclone:rr/listener/get_parametersReply
1700245907.556202 [42]   listener: Reader's topic name will be DDS:Cyclone:rq/listener/get_parametersRequest
1700245907.556626 [42]   listener: Writer's topic name will be DDS:Cyclone:rr/listener/get_parameter_typesReply
1700245907.556842 [42]   listener: Reader's topic name will be DDS:Cyclone:rq/listener/get_parameter_typesRequest
1700245907.557135 [42]   listener: Writer's topic name will be DDS:Cyclone:rr/listener/set_parametersReply
1700245907.557324 [42]   listener: Reader's topic name will be DDS:Cyclone:rq/listener/set_parametersRequest
1700245907.557612 [42]   listener: Writer's topic name will be DDS:Cyclone:rr/listener/set_parameters_atomicallyReply
1700245907.557806 [42]   listener: Reader's topic name will be DDS:Cyclone:rq/listener/set_parameters_atomicallyRequest
1700245907.558141 [42]   listener: Writer's topic name will be DDS:Cyclone:rr/listener/describe_parametersReply
1700245907.558332 [42]   listener: Reader's topic name will be DDS:Cyclone:rq/listener/describe_parametersRequest
1700245907.558588 [42]   listener: Writer's topic name will be DDS:Cyclone:rr/listener/list_parametersReply
1700245907.558752 [42]   listener: Reader's topic name will be DDS:Cyclone:rq/listener/list_parametersRequest
1700245907.559078 [42]   listener: Writer's topic name will be DDS:Cyclone:rt/parameter_events
1700245907.559532 [42]   listener: Reader's topic name will be DDS:Cyclone:rt/parameter_events
1700245907.560088 [42]   listener: Reader's topic name will be DDS:Cyclone:rt/chatter
1700245908.103861 [42]   listener: unknown source entity, ignore.
  • Logs from talker 
    1700245904.094515 [42]     talker: Current process name for iceoryx is iceoryx_rt_56_1700245904094276802
2023-11-17 18:31:44.095 [ Debug ]: Application registered management segment 0x7f98706ee000 with size 67816280 to id 1
2023-11-17 18:31:44.095 [ Debug ]: Application registered payload data segment 0x7f98503ae000 with size 540278784 to id 2
1700245904.096054 [42]     talker: My iceoryx address: 16/[02:42:ac:12:00:03:00:00:00:00:00:00:00:00:00:00]:0
1700245904.097419 [42]     talker: Writer's topic name will be DDS:Cyclone:ros_discovery_info
1700245904.099625 [42]     talker: Writer's topic name will be DDS:Cyclone:rr/talker/get_parametersReply
1700245904.099788 [42]     talker: Reader's topic name will be DDS:Cyclone:rq/talker/get_parametersRequest
1700245904.100061 [42]     talker: Writer's topic name will be DDS:Cyclone:rr/talker/get_parameter_typesReply
1700245904.100212 [42]     talker: Reader's topic name will be DDS:Cyclone:rq/talker/get_parameter_typesRequest
1700245904.100457 [42]     talker: Writer's topic name will be DDS:Cyclone:rr/talker/set_parametersReply
1700245904.100585 [42]     talker: Reader's topic name will be DDS:Cyclone:rq/talker/set_parametersRequest
1700245904.100817 [42]     talker: Writer's topic name will be DDS:Cyclone:rr/talker/set_parameters_atomicallyReply
1700245904.100950 [42]     talker: Reader's topic name will be DDS:Cyclone:rq/talker/set_parameters_atomicallyRequest
1700245904.101175 [42]     talker: Writer's topic name will be DDS:Cyclone:rr/talker/describe_parametersReply
1700245904.101305 [42]     talker: Reader's topic name will be DDS:Cyclone:rq/talker/describe_parametersRequest
1700245904.101499 [42]     talker: Writer's topic name will be DDS:Cyclone:rr/talker/list_parametersReply
1700245904.101625 [42]     talker: Reader's topic name will be DDS:Cyclone:rq/talker/list_parametersRequest
1700245904.101885 [42]     talker: Writer's topic name will be DDS:Cyclone:rt/parameter_events
1700245904.102424 [42]     talker: Reader's topic name will be DDS:Cyclone:rt/parameter_events
1700245904.103264 [42]     talker: Writer's topic name will be DDS:Cyclone:rt/chatter
[INFO] [1700245905.103522473] [talker]: Publishing: 'Hello World: 1'
[INFO] [1700245906.103543111] [talker]: Publishing: 'Hello World: 2'
[INFO] [1700245907.103518178] [talker]: Publishing: 'Hello World: 3'
1700245907.559346 [42]     talker: unknown source entity, ignore.
1700245907.559740 [42]     talker: unknown source entity, ignore.
1700245907.559763 [42]     talker: unknown source entity, ignore.
1700245907.559783 [42]     talker: unknown source entity, ignore.
1700245907.559803 [42]     talker: unknown source entity, ignore.
[INFO] [1700245908.103585781] [talker]: Publishing: 'Hello World: 4'
  • Logs from RouDi 
    2023-11-17 18:31:43.744 [ Debug ]: Roudi registered payload data segment 0x7fa9b7192000 with size 540278784 to id 2
RouDi is ready for clients
2023-11-17 18:31:44.095 [ Debug ]: Registered new application iceoryx_rt_56_1700245904094276802
2023-11-17 18:31:44.096 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_56_1700245904094276802
2023-11-17 18:31:44.097 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2023-11-17 18:31:44.099 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Response_, Event: rr/talker/get_parametersReply'
2023-11-17 18:31:44.099 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_56_1700245904094276802' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/talker/get_parametersRequest'!
2023-11-17 18:31:44.099 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/talker/get_parametersRequest'
2023-11-17 18:31:44.100 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Response_, Event: rr/talker/get_parameter_typesReply'
2023-11-17 18:31:44.100 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_56_1700245904094276802' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/talker/get_parameter_typesRequest'!
2023-11-17 18:31:44.100 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/talker/get_parameter_typesRequest'
2023-11-17 18:31:44.100 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Response_, Event: rr/talker/set_parametersReply'
2023-11-17 18:31:44.100 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_56_1700245904094276802' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/talker/set_parametersRequest'!
2023-11-17 18:31:44.100 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/talker/set_parametersRequest'
2023-11-17 18:31:44.100 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Response_, Event: rr/talker/set_parameters_atomicallyReply'
2023-11-17 18:31:44.100 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_56_1700245904094276802' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/talker/set_parameters_atomicallyRequest'!
2023-11-17 18:31:44.101 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/talker/set_parameters_atomicallyRequest'
2023-11-17 18:31:44.101 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Response_, Event: rr/talker/describe_parametersReply'
2023-11-17 18:31:44.101 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_56_1700245904094276802' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/talker/describe_parametersRequest'!
2023-11-17 18:31:44.101 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/talker/describe_parametersRequest'
2023-11-17 18:31:44.101 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Response_, Event: rr/talker/list_parametersReply'
2023-11-17 18:31:44.101 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_56_1700245904094276802' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/talker/list_parametersRequest'!
2023-11-17 18:31:44.101 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/talker/list_parametersRequest'
2023-11-17 18:31:44.101 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2023-11-17 18:31:44.102 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2023-11-17 18:31:44.103 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_56_1700245904094276802' with service description 'Service: DDS_CYCLONE, Instance: std_msgs::msg::dds_::String_, Event: rt/chatter'
2023-11-17 18:31:47.552 [ Debug ]: Registered new application iceoryx_rt_110_1700245907551841083
2023-11-17 18:31:47.553 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_110_1700245907551841083
2023-11-17 18:31:47.554 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2023-11-17 18:31:47.556 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Response_, Event: rr/listener/get_parametersReply'
2023-11-17 18:31:47.556 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_110_1700245907551841083' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/listener/get_parametersRequest'!
2023-11-17 18:31:47.556 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/listener/get_parametersRequest'
2023-11-17 18:31:47.556 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Response_, Event: rr/listener/get_parameter_typesReply'
2023-11-17 18:31:47.556 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_110_1700245907551841083' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/listener/get_parameter_typesRequest'!
2023-11-17 18:31:47.556 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/listener/get_parameter_typesRequest'
2023-11-17 18:31:47.557 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Response_, Event: rr/listener/set_parametersReply'
2023-11-17 18:31:47.557 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_110_1700245907551841083' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/listener/set_parametersRequest'!
2023-11-17 18:31:47.557 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/listener/set_parametersRequest'
2023-11-17 18:31:47.557 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Response_, Event: rr/listener/set_parameters_atomicallyReply'
2023-11-17 18:31:47.557 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_110_1700245907551841083' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/listener/set_parameters_atomicallyRequest'!
2023-11-17 18:31:47.557 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/listener/set_parameters_atomicallyRequest'
2023-11-17 18:31:47.558 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Response_, Event: rr/listener/describe_parametersReply'
2023-11-17 18:31:47.558 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_110_1700245907551841083' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/listener/describe_parametersRequest'!
2023-11-17 18:31:47.558 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/listener/describe_parametersRequest'
2023-11-17 18:31:47.558 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Response_, Event: rr/listener/list_parametersReply'
2023-11-17 18:31:47.558 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_110_1700245907551841083' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/listener/list_parametersRequest'!
2023-11-17 18:31:47.558 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/listener/list_parametersRequest'
2023-11-17 18:31:47.559 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2023-11-17 18:31:47.559 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2023-11-17 18:31:47.560 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_110_1700245907551841083' with service description 'Service: DDS_CYCLONE, Instance: std_msgs::msg::dds_::String_, Event: rt/chatter'