microRTPS agent side of the microRTPS bridge. Used to interface PX4 with the DDS world through FastRTPS/FastDDS.
License: BSD 3-Clause "New" or "Revised" License
Hi,
I have just setup a new environment and am not seeing any messages published to the /fmu/sensor_combined/out (or using “ros2 launch px4_ros_com sensor_combined_listener.launch.py”).
PX4 with RTPS runs fine and launches the micrortps_client (“make px4_sitl_rtps gazebo”)
The micrortps agent is definitely receving messages (I confirmed by running before and after launch px4 above, and messages received in the 1000s only after running) “micrortps_agent -t UDP”
If I publish a message manually in ros2 then I see it in the listener: “ros2 topic pub /fmu/sensor_combined/out px4_msgs/msg/SensorCombined”
So it seems to me the issue is with the micrortps agent - but I don’t know what to check.
I didn’t have this issue in Ubuntu 20.04 + ROS2 Galactic - but that might be a red herring - since its a new install now.
Other (perhaps) useful info:
When micrortps agent is running I can see publisher:
~$ ros2 topic info /fmu/sensor_combined/out
Type: px4_msgs::msg::SensorCombined
Publisher count: 1
Subscription count: 0
But when I echo it I get this error
~$ ros2 topic echo /fmu/sensor_combined/out
The message type ‘px4_msgs::msg::SensorCombined’ is invalid
Is somehow the micrortps agent sending invalid messages?
If I run micrortps_agent with ROS_DOMAIN_ID not 0, topics are not sent to the target.
How can I solve this issue?
Describe the bug
Using microRTPS agent with PX4 and a RaspberryPI4 connected via serial port The flushing operation at the start of the micrortps_agent might last forever if messages are received faster than the flushing operation (a pose of 1 ms has been set between each flush).
Serial bandwidth was set to 921600.
To Reproduce
Steps to reproduce the behavior:
Expected behavior
The flush shouldn't loop forever. I have no idea of the best approach to solve the issue. With printing debug, I was able to be ensured that the code remains stuck in the flushing loop (see microRTPS_transport.cpp, from line 374). There is nothing to prevent flushing forever if you still receive messages at high rate.
Additional context*
Messages exchanged in the RTPS bridge
rtps:
- msg: actuator_armed
id: 0
- msg: actuator_controls
id: 1
send: true
- msg: actuator_outputs
id: 3
- msg: adc_report
id: 4
- msg: airspeed
id: 5
- msg: battery_status
id: 6
- msg: camera_capture
id: 7
- msg: camera_trigger
id: 8
- msg: collision_report
id: 9
- msg: commander_state
id: 10
- msg: cpuload
id: 11
- msg: debug_array
id: 12
- msg: debug_key_value
id: 13
- msg: debug_value
id: 14
- msg: debug_vect
id: 15
- msg: differential_pressure
id: 16
- msg: distance_sensor
id: 17
- msg: estimator_innovations
id: 18
- msg: ekf2_timestamps
id: 19
- msg: ekf_gps_drift
id: 20
- msg: sensor_gps
id: 21
- msg: esc_report
id: 22
send: true
- msg: esc_status
id: 23
send: true
- msg: estimator_status
id: 24
- msg: follow_target
id: 25
- msg: geofence_result
id: 26
- msg: gps_dump
id: 27
- msg: gps_inject_data
id: 28
- msg: home_position
id: 29
- msg: input_rc
id: 30
- msg: iridiumsbd_status
id: 31
- msg: irlock_report
id: 32
- msg: landing_target_innovations
id: 33
- msg: landing_target_pose
id: 34
- msg: led_control
id: 35
- msg: log_message
id: 36
- msg: manual_control_setpoint
id: 37
- msg: mavlink_log
id: 38
- msg: mission
id: 39
- msg: mission_result
id: 40
- msg: mount_orientation
id: 41
- msg: multirotor_motor_limits
id: 42
- msg: obstacle_distance
id: 43
- msg: offboard_control_mode
id: 44
receive: true
- msg: optical_flow
id: 45
- msg: parameter_update
id: 46
- msg: ping
id: 47
- msg: position_controller_landing_status
id: 48
- msg: position_controller_status
id: 49
- msg: position_setpoint
id: 50
- msg: position_setpoint_triplet
id: 51
- msg: power_button_state
id: 52
- msg: pwm_input
id: 53
- msg: qshell_req
id: 54
- msg: qshell_retval
id: 55
- msg: radio_status
id: 56
- msg: rate_ctrl_status
id: 57
- msg: rc_channels
id: 58
- msg: rc_parameter_map
id: 59
- msg: safety
id: 60
- msg: satellite_info
id: 61
- msg: sensor_accel
id: 62
- msg: sensor_baro
id: 63
- msg: estimator_sensor_bias
id: 64
- msg: sensor_combined
id: 65
- msg: sensor_correction
id: 66
- msg: sensor_gyro
id: 67
- msg: sensor_mag
id: 68
- msg: sensors_status_imu
id: 69
- msg: sensor_selection
id: 70
- msg: px4io_status
id: 71
- msg: system_power
id: 73
- msg: task_stack_info
id: 74
- msg: tecs_status
id: 75
- msg: telemetry_status
id: 76
- msg: test_motor
id: 77
- msg: timesync
id: 78
send: true
receive: true
- msg: trajectory_waypoint
id: 79
- msg: transponder_report
id: 80
- msg: tune_control
id: 81
- msg: uavcan_parameter_request
id: 82
- msg: uavcan_parameter_value
id: 83
- msg: ulog_stream
id: 84
- msg: ulog_stream_ack
id: 85
- msg: vehicle_air_data
id: 86
- msg: vehicle_attitude
id: 87
- msg: vehicle_attitude_setpoint
id: 88
receive: true
- msg: vehicle_command
id: 89
receive: true
- msg: vehicle_command_ack
id: 90
- msg: vehicle_constraints
id: 91
- msg: vehicle_control_mode
id: 92
send: true
- msg: vehicle_global_position
id: 93
- msg: vehicle_gps_position
id: 94
- msg: vehicle_land_detected
id: 95
- msg: vehicle_local_position
id: 96
- msg: vehicle_local_position_setpoint
id: 97
- msg: vehicle_magnetometer
id: 98
- msg: vehicle_odometry
id: 99
send: true
- msg: vehicle_rates_setpoint
id: 100
send: true
- msg: vehicle_roi
id: 101
- msg: vehicle_status
id: 102
send: true
- msg: vehicle_status_flags
id: 103
- msg: vehicle_trajectory_waypoint
id: 104
- msg: vtol_vehicle_status
id: 105
- msg: wind
id: 106
- msg: collision_constraints
id: 107
- msg: orbit_status
id: 108
- msg: power_monitor
id: 109
- msg: landing_gear
id: 110
- msg: wheel_encoders
id: 111
- msg: vehicle_angular_velocity
id: 112
send: true
- msg: vehicle_acceleration
id: 113
send: true
- msg: airspeed_validated
id: 115
- msg: onboard_computer_status
id: 116
- msg: cellular_status
id: 117
- msg: sensor_accel_fifo
id: 118
- msg: sensor_gyro_fifo
id: 119
- msg: vehicle_imu
id: 120
- msg: vehicle_imu_status
id: 121
- msg: vehicle_angular_acceleration
id: 122
- msg: logger_status
id: 123
- msg: rpm
id: 124
- msg: hover_thrust_estimate
id: 125
- msg: trajectory_bezier
id: 126
- msg: vehicle_trajectory_bezier
id: 127
- msg: timesync_status
id: 128
- msg: orb_test
id: 129
- msg: orb_test_medium
id: 130
- msg: orb_test_large
id: 131
- msg: yaw_estimator_status
id: 132
- msg: sensor_preflight_mag
id: 133
- msg: estimator_states
id: 134
- msg: generator_status
id: 135
- msg: sensor_gyro_fft
id: 136
- msg: navigator_mission_item
id: 137
- msg: estimator_optical_flow_vel
id: 138
- msg: estimator_selector_status
id: 139
- msg: manual_control_switches
id: 140
- msg: estimator_status_flags
id: 141
- msg: rtl_flight_time
id: 142
- msg: vehicle_angular_acceleration_setpoint
id: 143
- msg: vehicle_torque_setpoint
id: 144
- msg: vehicle_thrust_setpoint
id: 145
- msg: vehicle_actuator_setpoint
id: 146
- msg: control_allocator_status
id: 147
- msg: mag_worker_data
id: 148
- msg: takeoff_status
id: 149
- msg: heater_status
id: 150
- msg: gimbal_device_attitude_status
id: 151
- msg: gimbal_device_information
id: 152
- msg: gimbal_device_set_attitude
id: 153
- msg: gimbal_manager_information
id: 154
- msg: gimbal_manager_set_attitude
id: 155
- msg: gimbal_manager_status
id: 156
- msg: gimbal_manager_set_manual_control
id: 157
- msg: airspeed_wind
id: 158
- msg: estimator_event_flags
id: 159
########## multi topics: begin ##########
- msg: actuator_controls_0
id: 170
alias: actuator_controls
send: true
receive: true
- msg: actuator_controls_1
id: 171
alias: actuator_controls
- msg: actuator_controls_2
id: 172
alias: actuator_controls
- msg: actuator_controls_3
id: 173
alias: actuator_controls
- msg: actuator_controls_virtual_fw
id: 174
alias: actuator_controls
- msg: actuator_controls_virtual_mc
id: 175
alias: actuator_controls
- msg: mc_virtual_attitude_setpoint
id: 176
alias: vehicle_attitude_setpoint
- msg: fw_virtual_attitude_setpoint
id: 177
alias: vehicle_attitude_setpoint
- msg: vehicle_attitude_groundtruth
id: 178
alias: vehicle_attitude
- msg: vehicle_global_position_groundtruth
id: 179
alias: vehicle_global_position
- msg: vehicle_local_position_groundtruth
id: 180
alias: vehicle_local_position
- msg: vehicle_mocap_odometry
alias: vehicle_odometry
id: 181
- msg: vehicle_visual_odometry
id: 182
alias: vehicle_odometry
receive: true
- msg: vehicle_trajectory_waypoint_desired
id: 183
alias: vehicle_trajectory_waypoint
- msg: obstacle_distance_fused
id: 184
alias: obstacle_distance
- msg: vehicle_vision_attitude
id: 185
alias: vehicle_attitude
- msg: trajectory_setpoint
id: 186
alias: vehicle_local_position_setpoint
- msg: camera_trigger_secondary
id: 187
alias: camera_trigger
- msg: vehicle_angular_velocity_groundtruth
id: 188
alias: vehicle_angular_velocity
- msg: estimator_visual_odometry_aligned
id: 189
alias: vehicle_odometry
- msg: estimator_innovation_variances
id: 190
alias: estimator_innovations
- msg: estimator_innovation_test_ratios
id: 191
alias: estimator_innovations
- msg: orb_multitest
id: 192
alias: orb_test
- msg: orb_test_medium_multi
id: 193
alias: orb_test_medium
- msg: orb_test_medium_queue
id: 194
alias: orb_test_medium
- msg: orb_test_medium_queue_poll
id: 195
alias: orb_test_medium
- msg: orb_test_medium_wrap_around
id: 196
alias: orb_test_medium
- msg: estimator_local_position
id: 197
alias: vehicle_local_position
- msg: estimator_global_position
id: 198
alias: vehicle_global_position
- msg: estimator_attitude
id: 199
alias: vehicle_attitude
- msg: estimator_odometry
id: 200
alias: vehicle_odometry
- msg: actuator_controls_4
id: 201
alias: actuator_controls
- msg: actuator_controls_5
id: 202
alias: actuator_controls
- msg: estimator_wind
id: 203
alias: wind
- msg: vehicle_acceleration_raw
id: 204
alias: vehicle_acceleration
send: true
########## multi topics: end ##########
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