rmw_dps icon indicating copy to clipboard operation
rmw_dps copied to clipboard

Published 20 hours ago • verified publisher icon ros2

Run publisher & subscriber examples with DPS

Open darshanj95 opened this issue 4 years ago • 3 comments

  • Operating System:
    • Ubuntu 18.04
  • Installation type:
    • Source
  • DDS implementation:
    • rmw_implementation used: Fast-RTPS, cycloneDDS, DPS

I followed the installation instructions for it and got it build successfully. (https://github.com/ros2/rmw_dps 2)

After doing this, I switched from default rmw to rmw_dps by specifying the environment variable.

export RMW_IMPLEMENTATION=rmw_dps_cpp

And then I tried running talker demo (ros2 run demo_nodes_cpp talker) and listener demo node, but the listener node couldn’t get the read the message. When I tried to echo the topic from talker node, I got this message:

Could not determine the type for the passed topic

Could someone point out what is going on here? Thank you!

darshanj95 avatar Jul 13 '20 15:07 darshanj95

There has likely been some changes to the RMW APIs that rmw_dps_cpp is not up to date with. I suggest enabling debug logging by setting the the level to RCUTILS_LOG_SEVERITY_DEBUG at https://github.com/ros2/rmw_dps/blob/bf93b10cfa71cbeeaec0f5d01b86ebc35f45490d/rmw_dps_cpp/src/rmw_init.cpp#L101 and seeing what APIs are called immediately prior to the message you see and see if there's been some changes to those APIs recently.

malsbat avatar Jul 16 '20 17:07 malsbat

Thank you @malsbat for getting back. I enabled logging and saw this. What can you make up from these logs? Does this look normal?

After running the talker node

DJain6@1001911-ubuntu:~/ros2_eloquent$ export RMW_IMPLEMENTATION=rmw_dps_cpp
DJain6@1001911-ubuntu:~/ros2_eloquent$ ros2 run demo_nodes_cpp talker
[DEBUG] [rmw_dps_cpp]: rmw_create_node(name=talker,namespace_=/,domain_id=0,security_options={enforce_security=0,security_root_path=(null)},localhost_only=0)
[DEBUG] [rmw_dps_cpp]: rmw_node_get_graph_guard_condition(node=0x5618d27f8200)
[DEBUG] [rmw_dps_cpp]: rmw_create_publisher(node=0x5618d27f8200,type_supports=0x7ff4c2bab0b0,topic_name=/rosout,qos_policies={history=KEEP_LAST,depth=10,reliability=RELIABLE,durability=VOLATILE},publisher_options=0x7ffcfb14e440)
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x5618d27f8200,type_supports=0x7ff4c462f310,service_name=/talker/get_parameters,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x5618d27f8200,type_supports=0x7ff4c462f370,service_name=/talker/get_parameter_types,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x5618d27f8200,type_supports=0x7ff4c462f490,service_name=/talker/set_parameters,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x5618d27f8200,type_supports=0x7ff4c462f430,service_name=/talker/set_parameters_atomically,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x5618d27f8200,type_supports=0x7ff4c462f2b0,service_name=/talker/describe_parameters,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x5618d27f8200,type_supports=0x7ff4c462f3d0,service_name=/talker/list_parameters,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_publisher(node=0x5618d27f8200,type_supports=0x7ff4c462f1d0,topic_name=/parameter_events,qos_policies={history=KEEP_LAST,depth=1000,reliability=RELIABLE,durability=VOLATILE},publisher_options=0x7ffcfb1554b0)
[DEBUG] [rmw_dps_cpp]: rmw_get_gid_for_publisher(publisher=0x5618d280dca0,gid=0x5618d280de28)
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x5618d280dca0,ros_message=0x7ffcfb155380,allocation=(nil))
[DEBUG] [rmw_dps_cpp]: rmw_create_subscription(node=0x5618d27f8200,type_supports=0x7ff4c462f1d0,topic_name=/parameter_events,qos_policies={history=KEEP_LAST,depth=1000,reliability=RELIABLE,durability=VOLATILE},subscription_options=0x7ffcfb1548b0)
[DEBUG] [rmw_dps_cpp]: rmw_create_publisher(node=0x5618d27f8200,type_supports=0x7ff4c04d53c0,topic_name=/chatter,qos_policies={history=KEEP_LAST,depth=7,reliability=RELIABLE,durability=VOLATILE},publisher_options=0x7ffcfb1559c0)
[DEBUG] [rmw_dps_cpp]: rmw_get_gid_for_publisher(publisher=0x5618d2815e90,gid=0x5618d2815378)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8001bd0,payload=0x7ff4b80016da,len=1250)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8001e00,payload=0x7ff4b8001630,len=1265)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8001630,payload=0x7ff4b8003090,len=183)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8004950,payload=0x7ff4b80055c0,len=1250)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8004c10,payload=0x7ff4b8000bc0,len=240)
[INFO] [talker]: Publishing: 'Hello World: 1'
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x5618d2801cd0,ros_message=0x5618d280a750,allocation=(nil))
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x5618d2815e90,ros_message=0x5618d2816bd0,allocation=(nil))
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b80057d0,payload=0x7ff4b800613a,len=1250)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b80053b0,payload=0x7ff4b8004f90,len=240)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b80053b0,payload=0x7ff4b8003090,len=183)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b80053b0,payload=0x7ff4b8006090,len=1265)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8005360,payload=0x7ff4b80075b0,len=1250)
[INFO] [talker]: Publishing: 'Hello World: 2'
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x5618d2801cd0,ros_message=0x5618d2816030,allocation=(nil))
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x5618d2815e90,ros_message=0x5618d2816bd0,allocation=(nil))
[INFO] [talker]: Publishing: 'Hello World: 3'
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x5618d2801cd0,ros_message=0x5618d28162f0,allocation=(nil))
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x5618d2815e90,ros_message=0x5618d2816bd0,allocation=(nil))
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8005340,payload=0x7ff4b80070da,len=1250)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8005320,payload=0x7ff4b8006a40,len=240)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8005320,payload=0x7ff4b8007030,len=1265)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8005320,payload=0x7ff4b8007030,len=1250)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b80065d0,payload=0x7ff4b8003090,len=183)
[INFO] [talker]: Publishing: 'Hello World: 4'
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x5618d2801cd0,ros_message=0x5618d2821a50,allocation=(nil))
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x5618d2815e90,ros_message=0x5618d2816bd0,allocation=(nil))
.
(skipping to end)
.
^C[INFO] [rclcpp]: signal_handler(signal_value=2)
[DEBUG] [rmw_dps_cpp]: rmw_shutdown()
[DEBUG] [rmw_dps_cpp]: rmw_destroy_publisher(node=0x5618d27f8200,publisher=0x5618d2801cd0)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_publisher(node=0x5618d27f8200,publisher=0x5618d2815e90)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_subscription(node=0x5618d27f8200,subscription=0x5618d2807510)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x5618d27f8200,service=0x5618d280dd50)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x5618d27f8200,service=0x5618d280c170)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x5618d27f8200,service=0x5618d280bb40)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x5618d27f8200,service=0x5618d2809ca0)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x5618d27f8200,service=0x5618d2807f80)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x5618d27f8200,service=0x5618d2806e30)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_publisher(node=0x5618d27f8200,publisher=0x5618d280dca0)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_node(node=0x5618d27f8200)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x5618d2800ca0,pub=0x7ff4b8006090,payload=(nil),len=0)

After running listener node

DJain6@1001911-ubuntu:~/ros2_eloquent$ ros2 run demo_nodes_cpp listener
[DEBUG] [rmw_dps_cpp]: rmw_create_node(name=listener,namespace_=/,domain_id=0,security_options={enforce_security=0,security_root_path=(null)},localhost_only=0)
[DEBUG] [rmw_dps_cpp]: rmw_node_get_graph_guard_condition(node=0x55e846019210)
[DEBUG] [rmw_dps_cpp]: rmw_create_publisher(node=0x55e846019210,type_supports=0x7f606b1070b0,topic_name=/rosout,qos_policies={history=KEEP_LAST,depth=10,reliability=RELIABLE,durability=VOLATILE},publisher_options=0x7fffc1b8c040)
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x55e846019210,type_supports=0x7f606cb8b310,service_name=/listener/get_parameters,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x55e846019210,type_supports=0x7f606cb8b370,service_name=/listener/get_parameter_types,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x55e846019210,type_supports=0x7f606cb8b490,service_name=/listener/set_parameters,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x55e846019210,type_supports=0x7f606cb8b430,service_name=/listener/set_parameters_atomically,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x55e846019210,type_supports=0x7f606cb8b2b0,service_name=/listener/describe_parameters,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_service(node=0x55e846019210,type_supports=0x7f606cb8b3d0,service_name=/listener/list_parameters,qos_policies={history=1,depth=1000,reliability=1,durability=2})
[DEBUG] [rmw_dps_cpp]: rmw_create_publisher(node=0x55e846019210,type_supports=0x7f606cb8b1d0,topic_name=/parameter_events,qos_policies={history=KEEP_LAST,depth=1000,reliability=RELIABLE,durability=VOLATILE},publisher_options=0x7fffc1b930b0)
[DEBUG] [rmw_dps_cpp]: rmw_get_gid_for_publisher(publisher=0x55e846027970,gid=0x55e84602c618)
[DEBUG] [rmw_dps_cpp]: rmw_publish(publisher=0x55e846027970,ros_message=0x7fffc1b92f80,allocation=(nil))
[DEBUG] [rmw_dps_cpp]: rmw_create_subscription(node=0x55e846019210,type_supports=0x7f606cb8b1d0,topic_name=/parameter_events,qos_policies={history=KEEP_LAST,depth=1000,reliability=RELIABLE,durability=VOLATILE},subscription_options=0x7fffc1b924b0)
[DEBUG] [rmw_dps_cpp]: rmw_create_subscription(node=0x55e846019210,type_supports=0x7f6068a313c0,topic_name=/chatter,qos_policies={history=KEEP_LAST,depth=10,reliability=RELIABLE,durability=VOLATILE},subscription_options=0x7fffc1b93170)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x55e846021c90,pub=0x7f6064001be0,payload=0x7f60640016dd,len=1265)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x55e846021c90,pub=0x7f6064001e10,payload=0x7f6064001630,len=1250)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x55e846021c90,pub=0x7f6064001790,payload=0x7f6064005260,len=1265)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x55e846021c90,pub=0x7f60640048a0,payload=0x7f60640030b0,len=183)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x55e846021c90,pub=0x7f6064004b90,payload=0x7f6064000bc0,len=240)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x55e846021c90,pub=0x7f6064005280,payload=0x7f606400654d,len=1265
.
(skipping to end)
.What can you make up from these logs? Does this look normal?
^C[INFO] [rclcpp]: signal_handler(signal_value=2)
[DEBUG] [rmw_dps_cpp]: rmw_shutdown()
[DEBUG] [rmw_dps_cpp]: rmw_destroy_publisher(node=0x55e846019210,publisher=0x55e846022d00)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_subscription(node=0x55e846019210,subscription=0x55e846038370)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_subscription(node=0x55e846019210,subscription=0x55e846025340)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x55e846019210,service=0x55e84602b150)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x55e846019210,service=0x55e84602d7e0)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x55e846019210,service=0x55e84602d010)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x55e846019210,service=0x55e84602aba0)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x55e846019210,service=0x55e846028ed0)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_service(node=0x55e846019210,service=0x55e846024650)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_publisher(node=0x55e846019210,publisher=0x55e846027970)
[DEBUG] [rmw_dps_cpp]: rmw_destroy_node(node=0x55e846019210)
[DEBUG] [rmw_dps_cpp]: onDiscovery(service=0x55e846021c90,pub=0x7f6064007fd0,payload=(nil),len=0)

darshanj95 avatar Jul 17 '20 16:07 darshanj95

Did you get a chance to look at the logs @malsbat?

darshanj95 avatar Aug 04 '20 15:08 darshanj95