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Published 20 hours ago • verified publisher icon micro-ROS

micro-ROS-Agent on ARM32v7 (Odroid XU4)

Open elgarbe opened this issue 11 months ago • 10 comments

Hi, I need to use micro-ros-agent on docker on an ARM32v7. I build a docker image with ros2 humble from source, using it as base image, do I need to just follow the steps for build micro-ros-agent? (https://micro.ros.org/docs/tutorials/core/first_application_linux/) in a new dockerfile? don't you provide such an image, right?

elgarbe avatar Mar 03 '24 02:03 elgarbe

No we don't, the approach shall be to build the agent in the required platform

pablogs9 avatar Mar 04 '24 06:03 pablogs9

Ok, I managed to make an image with micro-ros-agent. It doesn't work as expected. I mean, it works but once connected to my custom board (stm32f777) I get this:

[35m[1709577566.071391][m [32minfo    [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [32mrunning...[m             | fd: 3
[35m[1709577566.073126][m [32minfo    [m | [34mRoot.cpp          [m | [37mset_verbose_level       [m | [32mlogger setup[m           | verbose_level: 6
[35m[1709577566.123838][m [32minfo    [m | [34mRoot.cpp          [m | [37mcreate_client           [m | [32mcreate[m                 | client_key: 0x7A6BA362, session_id: 0x81
[35m[1709577566.123967][m [32minfo    [m | [34mSessionManager.hpp[m | [37mestablish_session       [m | [32msession established[m    | client_key: 0x7A6BA362, address: 0
[35m[1709577566.124302][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[35m[1709577566.224730][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.225230][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.325752][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.326372][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.427721][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.428263][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.528770][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.529350][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.630760][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.631252][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.731791][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.732286][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.832684][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.833386][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577566.934704][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577566.935216][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577567.035780][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577567.036370][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577583.918916][m [32minfo    [m | [34mTermiosAgentLinux.cpp[m | [37mfini                    [m | [32mserver stopped[m         | fd: 3
[35m[1709577583.948241][m [31m[1merror   [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [31mopen device error[m      | device: /dev/ttyACM0, errno: 6
[35m[1709577583.969849][m [31m[1merror   [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [31mopen device error[m      | device: /dev/ttyACM0, errno: 6
[35m[1709577584.483926][m [31m[1merror   [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [31mopen device error[m      | device: /dev/ttyACM0, errno: 6
[35m[1709577584.986706][m [32minfo    [m | [34mTermiosAgentLinux.cpp[m | [37minit                    [m | [32mrunning...[m             | fd: 3
[35m[1709577585.487454][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.487834][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.488052][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.488327][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.488689][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 36, data: 
0000: 80 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
[35m[1709577585.488827][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[35m[1709577585.489187][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 36, data: 
0000: 80 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
[35m[1709577585.489611][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 36, data: 
0000: 80 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
[35m[1709577585.490027][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x7A6BA362, len: 36, data: 
0000: 80 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
[35m[1709577585.490249][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x7A6BA362, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 68 7E 95 F7 81 00 FC 01
[35m[1709577585.490859][m [32minfo    [m | [34mRoot.cpp          [m | [37mdelete_client           [m | [32mdelete[m                 | client_key: 0x7A6BA362
[35m[1709577585.491354][m [32minfo    [m | [34mSessionManager.hpp[m | [37mdestroy_session         [m | [32msession closed[m         | client_key: 0x7A6BA362, address: 0
[35m[1709577585.491566][m [32minfo    [m | [34mRoot.cpp          [m | [37mcreate_client           [m | [32mcreate[m                 | client_key: 0x687E95F7, session_id: 0x81
[35m[1709577585.491763][m [32minfo    [m | [34mSessionManager.hpp[m | [37mestablish_session       [m | [32msession established[m    | client_key: 0x687E95F7, address: 0
[35m[1709577585.493070][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 36, data: 
0000: 80 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
[35m[1709577585.493347][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[35m[1709577585.594292][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.594636][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577585.695384][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.695920][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577585.796389][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.796928][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577585.897369][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.898054][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577585.999428][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577585.999958][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577586.100380][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577586.100972][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577586.202297][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577586.203101][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577586.304295][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577586.304921][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
[35m[1709577586.405261][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37mrecv_message            [m | [33m[==>> SER <<==][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[35m[1709577586.405856][m [36mdebug   [m | [34mSerialAgentLinux.cpp[m | [37msend_message            [m | [33m[** <<SER>> **][m        | client_key: 0x687E95F7, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 00 00 00 01 80
^C[ros2run]: Interrupt

On 1709577585.490859 I reset my board and then the connection is established again. In my board some object fail when I try to create them. Is there an easy way to debug the problem with this messages? BTW: In my embedded system I create a node two topics and two publishers.

elgarbe avatar Mar 04 '24 18:03 elgarbe

The problem is trying to create the node. I'm debuging my firmware, but some times the node is created and then micro-ros-agent gives: imagen

I'm not sure what am I missing...

elgarbe avatar Mar 04 '24 20:03 elgarbe

Ok, I isolate the problem. I moved from USB to UART in order to simplify communications. I moved from my source build in docker on Odroid XU4 to official docker image on my laptop. I use humble version of microros/micro_ros_static_library_builder in my embedded system. So I was trying with humble docker image getting "Not enough memory error" then I've tried with iron version and everything works just fine:

image

whats the difference between humble and iron docker image?

elgarbe avatar Mar 04 '24 22:03 elgarbe

You need to have the same ROS 2 distro in all parts of your system. Humble and Iron may not be intercompatible.

pablogs9 avatar Mar 05 '24 06:03 pablogs9

That's right, but I have used humble for the static library and humble for the agent and it doesn't work. Then changed to iron agent and it started working.

elgarbe avatar Mar 05 '24 10:03 elgarbe

Is there any Iron node in your ROS 2 dataspace while you are running micro-ROS Humble?

pablogs9 avatar Mar 05 '24 10:03 pablogs9

Is there any Iron node in your ROS 2 dataspace while you are running micro-ROS Humble?

No, I just trying to get micros-ros working right now.

elgarbe avatar Mar 05 '24 10:03 elgarbe

So in that case, I need a replicator to have the same error on my local setup.

pablogs9 avatar Mar 05 '24 10:03 pablogs9

I have a custom board based on stm32f777. I'm not sure how you can replicate it. If humble library with humble agent are working ok then I will try to find the problem here. I can try starting with an empty system installing just humble.

BTW USB transport define a 2048 buffer size. I have to increase to 4096 in order to get it working. I was having issue on the node creation function, after that change using USB is working just fine.

elgarbe avatar Mar 05 '24 10:03 elgarbe