Pablo Garrido

Not sure if running the whole rcl_publish procedure inside an ISR. It takes some time, is very depth in stack and it is probable that makes other system calls.

Hi @avielbr, I guess that this is gonna be kind of hard to achieve with the current status of micro-ROS' Crazyflie port. In any case, we were talking with the...

Could you share your micro-ROS Agent output using the flag `-v6`?

Does it works if you do in ROS 2 terminal: `ros2 daemon stop` and the `ROS_DOMAIN_ID=0 ros2 topic list` ?

What does means "When I try to run rviz2 its working correctly, I am able to see topics in every terminal." ??

The micro-ROS Agent is working properly since it is publishing and subscribing to DDS/ROS2 dataspace as you can see in the log (` ` and `>> DDS

Hello @liamhan0905 , the callback shall follow the following signature: https://github.com/ros2/rclc/blob/442c4e84bf9ce9c819aa371b2d01e0c4e0835e06/rclc/include/rclc/executor_handle.h#L63

Not sure if lambdas can be used. Any idea @JanStaschulat ?

Hello @DwayneGit multithreading is not supported in RPi Pico SDK, you need to implement lockings in middleware here: https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/master/src/c/profile/multithread/multithread.c and rebuild the library with `UCLIENT_PROFILE_MULTITHREAD`enabled in colcon.meta for Micro XRCE-DDS...

In this file only locks for `PLATFORM_NAME_FREERTOS`, `UCLIENT_PLATFORM_ZEPHYR`, and `UCLIENT_PLATFORM_POSIX` are implemented. Does your platform support creating mutex somehow?