Agent crash when using ros_domain_id != 0

[luke-reframe]

Hello,

Upon changing the ros_domain_id field in my motoros2_config.yaml away from the default, microROS has entirely stopped working. I have confirmed through the debug listener that both the host and the controller are using the correct ros_domain_id (5) though microROS continues to crash upon connection. It should be noted that I had no issues with connecting, listing nodes/topics, and sending actions via the FollowJointTrajectory action server prior to this.

I am using a yrc1000micro controller with an HC10DT running Humble 0.1.2.

Here is my config

Click to expand

---
# SPDX-FileCopyrightText: 2022-2023, Yaskawa America, Inc.
# SPDX-FileCopyrightText: 2022-2023, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0


#-----------------------------------------------------------------------------
# REQUIRED
# IP address and UDP port number of the Micro-ROS Agent PC. All communication
# to/from MotoROS2 will route through the Agent application.
# (There is no default value for these fields. They must be specified by
# the user.)
agent_ip_address: "192.168.1.1"
agent_port_number: 8888


# Any settings that are not specified will be set to their DEFAULT value.


#-----------------------------------------------------------------------------
# The (DDS) domain to join
#
# Please refer to the ROS 2 documentation on DDS domain IDs for more
# information. This setting works exactly like its ROS 2 analogue.
#
# DEFAULT: 0 (the default ROS 2 domain ID)
ros_domain_id: 5

#-----------------------------------------------------------------------------
# Name under which MotoROS2 should register with the ROS 2 node graph.
#
# DEFAULT: "motoman_xx_yy_zz"  (xyz: last three bytes of robot's MAC address)
#node_name: ""

#-----------------------------------------------------------------------------
# Namespace to use for the MotoROS2 node and all topics.
#
# DEFAULT: ""  (empty string)
#node_namespace: ""

#-----------------------------------------------------------------------------
# Remap rules to apply to ROS 2 resource names.
#
# This configures the micro-ROS equivalent of the ROS 2 remap functionality.
#
# The current implementation expects all remap rules as a single,
# space-separated string. Whitespace in resource names is not allowed, so
# this should not pose any issues.
#
# Maximum total length of the remap_rules string: 255 chars. Any characters
# beyond that will be ignored (and likely result in parsing failures).
#
# Please refer to the ROS 2 documentation on remapping for more information
# on syntax and contraints.
#
# Example: the following remaps the 'joint_states' topic to 'my_joint_states',
# and the 'read_single_io' service to 'io/read_single':
#
#   "joint_states:=my_joint_states read_single_io:=io/read_single"
#
# DEFAULT: ""  (empty string)
#remap_rules: ""

#-----------------------------------------------------------------------------
# This will ensure that when timestamps are sampled, they will match the clock
# of the Agent PC. This is useful if the date/time of the robot controller is
# not synchronized.
#
# DEFAULT: true
#sync_timeclock_with_agent: true

#-----------------------------------------------------------------------------
# Should MotoROS2 monitor the link state of the ethernet port used to
# communicate with the Agent?
#
# If enabled, this will cause immediate notification of loss-of-connection
# when the link goes down, causing MotoROS2 to activate it's shutdown
# behaviour (ie: stop all motion (if enabled), release resources, wait for
# link up and attempt reconnection with the Agent).
#
# If this is disabled, Agent disconnection detection uses an application
# layer based timeout mechanism which takes longer to detect disconnects (but
# might be more robust against intermittent link-layer disconnects which do not
# cause network disconnections).
#
# DEFAULT: true
#userlan_monitor_enabled: true

#-----------------------------------------------------------------------------
# Which port should MotoROS2 monitor, if 'userlan_monitor_enabled' is 'true'?
#
# If not specified, MotoROS2 will attempt to auto-detect the network port
# that is used to connect to the micro-ROS Agent. It will do this by
# comparing the 'agent_ip_address' setting against the IP addresses (and
# netmasks) of all available network interfaces.
#
# If the Agent can be reached directly over a particular interface, or via a
# configured default gateway on the same interface, the associated port will be
# monitored for link drops.
#
# To disable auto-detection, uncomment 'userlan_monitor_port' below and set
# it to the desired port.
#
# NOTE:   this setting only applies to YRC1000 and YRC1000u controllers.
#         DX200 and FS100 controllers only have a single ethernet port, and any
#         value other than 1 will be ignored.
#
# NOTE 2: auto-detection is not perfect. It can't determine whether the Agent
#         might be reachable using multiple hops. Nor can it determine whether
#         any routers have been configured to forward particular types of
#         traffic or firewalls exist between MotoROS2 and the micro-ROS Agent.
#         For deployments with complex network configurations, disable
#         auto-detection by configuring 'userlan_monitor_port' below.
#
# NOTE 3: the port specified here is NOT checked against 'agent_ip_address'.
#         In other words: if 'agent_ip_address' is on 'USER_LAN1', but
#         'userlan_monitor_port' is set to 'USER_LAN2', MotoROS2 will detect
#         link down events on 'USER_LAN2', whether or not that port is used
#         to communicate with the Agent.
#
# OPTIONS: USER_LAN1, USER_LAN2
# DEFAULT: USER_LAN1
#userlan_monitor_port: USER_LAN1

#-----------------------------------------------------------------------------
# If the Agent PC disconnects from the robot while it is in motion, should the
# robot come to a stop?
#
# DEFAULT: true
#stop_motion_on_disconnect: true

#-----------------------------------------------------------------------------
# Should MotoROS2 broadcast transformapplicationss on '/tf'? This can be disabled if
# the data will interfere with  such as robot_state_publisher.
#
# DEFAULT: true
publish_tf: true

#-----------------------------------------------------------------------------
# Should the 'tf' topic be namespaced if 'node_namespace' is configured with a
# non-empty string?
#
# Setting this to 'false' will make MotoROS2 broadcast transforms on the '/tf'
# global topic, which cannot be namespaced (due to being an absolute name).
# Otherwise, it will broadcast on 'tf', which can be namespaced.
#
# DEFAULT: true
namespace_tf: true

#-----------------------------------------------------------------------------
# Similar to the 'frame_prefix' parameter of the ROS 2 'robot_state_publisher'
# node. All published TF frames will be prefixed with this string.
#
# Example: with this parameter set to "left/", the "r1/tool0" frame would be
# published as "left/r1/tool0".
#
# NOTE: the prefix must include a separator (fi: '/') if one should be included
#       in the final name of the TF frames. Such a separator is not added
#       automatically.
#
# DEFAULT: ""  (empty string)
#tf_frame_prefix: ""

#-----------------------------------------------------------------------------
# Joints in this configuration file must be listed in the order of Robots,
# Base-axes, Station-axes.
#
# Example: R1+B1+R2+S1 system
#
# joint_names:
# - [r1_s_axis, r1_l_axis, r1_u_axis, r1_r_axis, r1_b_axis, r1_t_axis]
# - [r2_s_axis, r2_l_axis, r2_u_axis, r2_r_axis, r2_b_axis, r2_t_axis, r2_e_axis]
# - [b1_axis]
# - [s1_axis_1, s1_axis_2]
#
# When using a 7 axis robot arm with an elbow joint (E) in the middle of the
# arm, the elbow axis should be listed last (SLURBTE).
#
# DEFAULT: "group_x/joint_y"
#joint_names:
#- [group_1/joint_1, group_1/joint_2, group_1/joint_3, group_1/joint_4, group_1/joint_5, group_1/joint_6]

#-----------------------------------------------------------------------------
# Logging settings
logging:
  # All log messages are broadcast on the network on port UDP 21789.
  # Additionally, the messages can be printed to the standard output stream of
  # the robot controller. This would be visible over a telnet connection, or by
  # attaching a VGA debug monitor to the robot controller.
  #
  # NOTE: this WILL slow down the application.
  #
  # DEFAULT: false
  log_to_stdout: false

#-----------------------------------------------------------------------------
update_periods:
  # The delay between checks for incoming activity on the network. A lower
  # number will result in quicker responsiveness to received messages.
  # Additionally, it determines the rate at which the feedback_publisher timers
  # are checked.
  # This value should be <= to action_feedback_publisher_period as executor_sleep_period
  # is the rate at which the action-feedback timer is checked. If the value for
  # action_feedback_publisher_period is < executor_sleep_period, it will effectively
  # be treated as having the same value executor_sleep_period at runtime.
  #
  # DEFAULT: 10 milliseconds
  executor_sleep_period: 10

  # The delay between each publish of feedback position and status information.
  # A lower number will publish the feedback data more frequently.
  # This value should be >= to executor_sleep_period and
  # controller_status_monitor_period.
  #
  # DEFAULT: 20 milliseconds
  action_feedback_publisher_period: 20

  # The delay between each poll of the robot I/O and controller status data.
  # This value should be <= to action_feedback_publisher_period.
  #
  # DEFAULT: 10 milliseconds
  controller_status_monitor_period: 10

#-----------------------------------------------------------------------------
# QoS profile to use for various publishers MotoROS2 creates.
# The default values here are based on tests and inspection of the source code
# of typical consumers of messages on these topics.
#
# NOTE : RViz2 expects/requires 'tf' to use the 'default' profile (ie: reliable).
# NOTE2: MoveIt2 expects/requires 'joint_states' to use the 'default' profile.
publisher_qos:
  # DEFAULT: sensor_data
  robot_status: sensor_data

  # DEFAULT: sensor_data
  joint_states: sensor_data

  # DEFAULT: default
  tf: default

#-----------------------------------------------------------------------------
# Name of the INFORM job to be used (and monitored) by MotoROS2.
#
# Maximum length: 32 UTF-8 characters. 16 Japanese (Shift-JIS) characters.
#
# Set this to a custom value when using a custom INFORM job with a different
# name.
#
# NOTE: do NOT include the file extension here (ie: '.JBI'). Only the name
#       of the job should be specified.
#
# DEFAULT: "INIT_ROS"
inform_job_name: "INIT_ROS"

#-----------------------------------------------------------------------------
# Allow custom INFORM job.
#
# If MotoROS2 detects that the specified INFORM job is not formatted properly
# then an alarm will be raised at startup.
# This flag indicates that the job is intentionally configured and will
# suppress the alarm.
#
# When this flag is set to 'true', then MotoROS2 will not validate whether the
# job is compatible. It is the responsibility of the user to make sure the
# custom job includes the required INFORM statements and in the expected order
# (refer to the provided INFORM job files for the general structure).
#
# DEFAULT: false
allow_custom_inform: false

Debug log:

Click to expand

~/Downloads/debug_listener.py 
/home/reframe/Downloads/debug_listener.py:43: DeprecationWarning: There is no current event loop
  loop = asyncio.get_event_loop()
Listening for MotoROS2 debug msgs (format: "[time_msg_rcvd] [ip:port] msg") ..
---
[2024-06-20 14:14:04.843400] [192.168.1.31:52091]: ---
[2024-06-20 14:14:04.843600] [192.168.1.31:52091]: MotoROS2 0.1.2 - boot
[2024-06-20 14:14:04.843600] [192.168.1.31:52091]: M+ libmicroros version: 'humble-20221102-dbg'
[2024-06-20 14:14:04.844200] [192.168.1.31:52091]: PlatformLib version: 0.2.12
[2024-06-20 14:14:04.905600] [192.168.1.31:52091]: No new configuration file found on CN102 USB drive.
[2024-06-20 14:14:04.905600] [192.168.1.31:52091]: Checking configuration file: motoros2_config.yaml
[2024-06-20 14:14:05.213200] [192.168.1.31:52091]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.1.1' on iface 1
[2024-06-20 14:14:05.213200] [192.168.1.31:52091]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2024-06-20 14:14:05.215600] [192.168.1.31:52091]: UserLan monitor enabled, checking port setting ..
[2024-06-20 14:14:05.215600] [192.168.1.31:52091]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.1.1' on iface 1
[2024-06-20 14:14:05.215600] [192.168.1.31:52091]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2024-06-20 14:14:05.215800] [192.168.1.31:52091]: UserLan monitor auto-detect port: 1
[2024-06-20 14:14:05.216200] [192.168.1.31:52091]: Config: ros_domain_id = 5
[2024-06-20 14:14:05.216400] [192.168.1.31:52091]: Config: node_name = 'motoman_25_5a_01'
[2024-06-20 14:14:05.216400] [192.168.1.31:52091]: Config: node_namespace = ''
[2024-06-20 14:14:05.216600] [192.168.1.31:52091]: Config: remap_rules = ''
[2024-06-20 14:14:05.216600] [192.168.1.31:52091]: Config: agent_ip_address = '192.168.1.1'
[2024-06-20 14:14:05.216600] [192.168.1.31:52091]: Config: agent_port_number = '8888'
[2024-06-20 14:14:05.216800] [192.168.1.31:52091]: Config: sync_timeclock_with_agent = 1
[2024-06-20 14:14:05.216800] [192.168.1.31:52091]: Config: namespace_tf = 1
[2024-06-20 14:14:05.216800] [192.168.1.31:52091]: Config: publish_tf = 1
[2024-06-20 14:14:05.216800] [192.168.1.31:52091]: List of configured joint names:
[2024-06-20 14:14:05.217000] [192.168.1.31:52091]: ---
[2024-06-20 14:14:05.217000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.217000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.217200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.217200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.217200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.217200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.219400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.219600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.219600] [192.168.1.31:52091]: ---
[2024-06-20 14:14:05.219600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220800] [192.168.1.31:52091]: ---
[2024-06-20 14:14:05.220800] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220800] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.220800] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.221000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.221000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.221000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222000] [192.168.1.31:52091]: ---
[2024-06-20 14:14:05.222200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222600] [192.168.1.31:52091]: ---
[2024-06-20 14:14:05.222600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222800] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222800] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.222800] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223200] [192.168.1.31:52091]: ---
[2024-06-20 14:14:05.223200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.223800] [192.168.1.31:52091]: ---
[2024-06-20 14:14:05.224600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.224800] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.224800] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.225000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.225000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.225000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.225000] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.225200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.225200] [192.168.1.31:52091]: ---
[2024-06-20 14:14:05.225200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.225400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.225400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.225400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.227600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.227600] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.228200] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.228400] [192.168.1.31:52091]: x
[2024-06-20 14:14:05.228400] [192.168.1.31:52091]: ---
[2024-06-20 14:14:05.228400] [192.168.1.31:52091]: Config: logging.log_to_stdout = 0
[2024-06-20 14:14:05.228600] [192.168.1.31:52091]: Config: update_periods.executor_sleep_period = 10
[2024-06-20 14:14:05.228600] [192.168.1.31:52091]: Config: update_periods.action_feedback_publisher_period = 20
[2024-06-20 14:14:05.228600] [192.168.1.31:52091]: Config: update_periods.controller_status_monitor_period = 10
[2024-06-20 14:14:05.228800] [192.168.1.31:52091]: Config: publisher_qos.robot_status = 'sensor_data'
[2024-06-20 14:14:05.228800] [192.168.1.31:52091]: Config: publisher_qos.joint_states = 'sensor_data'
[2024-06-20 14:14:05.228800] [192.168.1.31:52091]: Config: publisher_qos.tf = 'default'
[2024-06-20 14:14:05.228800] [192.168.1.31:52091]: Config: tf_frame_prefix = ''
[2024-06-20 14:14:05.229000] [192.168.1.31:52091]: Config: stop_motion_on_disconnect = 1
[2024-06-20 14:14:05.229000] [192.168.1.31:52091]: Config: inform_job_name = 'INIT_ROS'
[2024-06-20 14:14:05.229000] [192.168.1.31:52091]: Config: allow_custom_inform_job = 0
[2024-06-20 14:14:05.229200] [192.168.1.31:52091]: Config: userlan_monitor_enabled = 1
[2024-06-20 14:14:05.229200] [192.168.1.31:52091]: Config: userlan_monitor_port = 1
[2024-06-20 14:14:05.229200] [192.168.1.31:52091]: Waiting for robot alarms to clear...
[2024-06-20 14:14:07.730800] [192.168.1.31:52091]: Waiting for robot alarms to clear...
[2024-06-20 14:14:10.233000] [192.168.1.31:52091]: RMW settings 1: 1000; 0; 1000; 256; 256; 512
[2024-06-20 14:14:10.233000] [192.168.1.31:52091]: RMW settings 2: 1; 1; 30; 15; 30; 1; -1
[2024-06-20 14:14:10.233000] [192.168.1.31:52091]: RMW settings 3: 60; 120; 100; 100
[2024-06-20 14:14:10.233200] [192.168.1.31:52091]: Using ROS domain ID: 5
[2024-06-20 14:14:10.233200] [192.168.1.31:52091]: Using client key: 0xB5255A01
[2024-06-20 14:14:10.235400] [192.168.1.31:52091]: Attempting to connect to micro-ROS PC Agent (at udp://192.168.1.1:8888)
[1970-01-01 00:00:00.000000] [192.168.1.31:52091]: Found micro-ROS PC Agent
[2024-06-20 14:14:11.266200] [192.168.1.31:52091]: rclc_support_init_with_options = 0
[2024-06-20 14:14:11.266400] [192.168.1.31:52091]: remap_rules str: ''
[2024-06-20 14:14:11.266400] [192.168.1.31:52091]: len(remap_rules str): 0
[2024-06-20 14:14:11.266400] [192.168.1.31:52091]: num parsed remap rules: 0
[2024-06-20 14:14:11.266600] [192.168.1.31:52091]: faux argc: 2
[2024-06-20 14:14:11.266600] [192.168.1.31:52091]: rcl_parse_arguments = 0
[2024-06-20 14:14:11.281800] [192.168.1.31:52091]: rclc_node_init_with_options = 0
[2024-06-20 14:14:11.282000] [192.168.1.31:52091]: Ros_Communication_Initialize(..):comm_exec_init: memory free: 1035736 bytes, delta: -776
[2024-06-20 14:14:11.282000] [192.168.1.31:52091]: Initializing controller
[2024-06-20 14:14:11.282000] [192.168.1.31:52091]: System has PFL Enabled
[2024-06-20 14:14:11.282400] [192.168.1.31:52091]: Number of motion groups: 1 (max supported: 8)
[2024-06-20 14:14:11.296800] [192.168.1.31:52091]: axisType[0]: Rot	Rot	Rot	Rot	Rot	Rot	---	---	
[2024-06-20 14:14:11.296800] [192.168.1.31:52091]: pulse->unit[0]: 153054.4649	153054.4649	134496.9840	92770.1921	92770.1921	92770.1921	--	--	
[2024-06-20 14:14:11.299000] [192.168.1.31:52091]: maxInc[0] (in motoman joint order): 1389, 1389, 1690, 1165, 1619, 1619, 0
[2024-06-20 14:14:11.299200] [192.168.1.31:52091]: maxSpeed[0] (in ros joint order): 2.268800, 2.268800, 3.141334, 3.139478, 4.362932, 4.362932, 0.000000
[2024-06-20 14:14:11.299200] [192.168.1.31:52091]: Creating new task: Add To Inc Q (Group 1)
[2024-06-20 14:14:11.299400] [192.168.1.31:52091]: Created ctrl group 0, memfree = (997968) bytes
[2024-06-20 14:14:11.309400] [192.168.1.31:52091]: Creating new task: IncMoveTask
[2024-06-20 14:14:11.309600] [192.168.1.31:52091]: IncMoveTask Started
[2024-06-20 14:14:11.309600] [192.168.1.31:52091]: Eco-mode: enabled
[2024-06-20 14:14:11.309800] [192.168.1.31:52091]: Eco-mode: timeout: 10 min
[2024-06-20 14:14:11.310000] [192.168.1.31:52091]: Ros_Controller_Initialize(..):ctrlr_init: memory free: 997648 bytes, delta: -38088
[2024-06-20 14:14:11.310000] [192.168.1.31:52091]: Checking validity of robot job: INIT_ROS
[2024-06-20 14:14:11.357600] [192.168.1.31:52091]: Job is OK
[2024-06-20 14:14:11.357600] [192.168.1.31:52091]: Initializing PositionMonitor publishers
[2024-06-20 14:14:12.383000] [192.168.1.31:52091]: motoRosAssert: MotoROS2: Fatal Error (subcode: 8)
[2024-06-20 14:14:17.384200] [192.168.1.31:52091]: motoRosAssert: MotoROS2: Fatal Error (subcode: 8)
[2024-06-20 14:14:22.386600] [192.168.1.31:52091]: motoRosAssert: MotoROS2: Fatal Error (subcode: 8)

and the docker command I have been using to run microROS with associated output (same run as the Debug log):

Click to expand

docker run   -it   --rm   --net=host   --user=$(id -u):$(id -g)   microros/micro-ros-agent:humble     udp4     --port 8888
[1718906970.609122] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1718906970.609398] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1718906989.255752] info     | ProxyClient.cpp    | ProxyClient              | session hard timeout enabled | client_key: 0xB5255A01, timeout: 10000 ms
[1718906989.255804] info     | Root.cpp           | create_client            | create                 | client_key: 0xB5255A01, session_id: 0x81
[1718906989.255882] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0xB5255A01, address: 192.168.1.31:7935
[1718906989.272030] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xB5255A01, participant_id: 0x000(1)
[1718906989.292924] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xB5255A01, topic_id: 0x000(2), participant_id: 0x000(1)
[1718906989.296480] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xB5255A01, publisher_id: 0x000(3), participant_id: 0x000(1)
[1718906989.299658] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xB5255A01, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1718906989.351125] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xB5255A01, topic_id: 0x001(2), participant_id: 0x000(1)
terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException'
  what():  Not enough memory in the buffer stream
[1718906989.353330] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xB5255A01, publisher_id: 0x001(3), participant_id: 0x000(1)
[ros2run]: Aborted

Note that I have attempted to run both commands:

docker run   -it   --rm   --net=host   --user=$(id -u):$(id -g)   microros/micro-ros-agent:humble     udp4     --port 8888

and

docker run -it --rm --net=host --user=$(id -u):$(id -g) -e ROS_DOMAIN_ID=5 microros/micro-ros-agent:humble udp4 --port 8888

both resulting in the same error. The first command is the one I have been successfully using with ros_domain_id 0.

[ted-miller]

I just attempted using your config file with DOMAIN = 5 and didn't have any issue.

I am using your second command for launching the agent: docker run -it --rm --net=host --user=$(id -u):$(id -g) -e ROS_DOMAIN_ID=5 microros/micro-ros-agent:humble udp4 --port 8888

Can you please please post a copy of your CMOS.BIN from the robot controller?

Also, please check if there are any other MotoPlus applications installed on the robot controller. It's possible that there could be a resource conflict.

[gavanderhoorn]

Note that I have attempted to run both commands: [..]

docker run -it --rm --net=host --user=$(id -u):$(id -g) -e ROS_DOMAIN_ID=5 microros/micro-ros-agent:humble udp4 --port 8888 

The Agent is (supposedly) a transparent bridge. AFAIK, setting ROS_DOMAIN_ID does not affect it -- the micro-ROS nodes (ie: MotoROS2) should configure the domain ID to use (like this).

Looking at the Agent's log, this line stands out:

terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException'
  what():  Not enough memory in the buffer stream

I'm wondering whether there is a binary incompatibility between the Client (ie: MotoROS2) and the Agent.

@luke-reframe: what's the output of the following command on your ROS PC?

docker \
  run \
    -it \
    --rm \
    --entrypoint="" \
    microros/micro-ros-agent:humble \
      /bin/bash \
        -c 'source /uros_ws/install/setup.bash && ros2 pkg xml -t version micro_ros_agent'

(you should be able to just copy-paste it in a terminal and run it as a single command).

@ted-miller: could you also run that command please?

It's possible 0.1.2 is no longer compatible with the Agent, but it's just a hunch right now.

PS: some more info about how to override the domain ID on the Agent's side, click to expand

There is a way to override whatever domain ID is set by clients (all of them), but that's not via ROS_DOMAIN_ID. See eProsima Micro XRCE-DDS Agent / Configuration: Domain ID.

Note: this is currently not supported by MotoROS2.

[gavanderhoorn]

@luke-reframe: I've been trying to reproduce this, but so far have not been able to.

Have you been able to make any progress on your end?

[gavanderhoorn]

And just to make sure: you are using a regular amd64 (ie: Intel or AMD) PC for the Agent, correct?

I ask because microros/micro-ros-agent:humble is also available for arm64 (ie: RaspberryPi and potentially M1).

[luke-reframe]

@gavanderhoorn

Yes, just yesterday I was able to resolve the issue. The issue was likely caused when some of the ROS packages in the working dev container got upgraded. This is notable because the development container was running an Iron distribution while the MicroRos agent and the HC10DT were running Humble. Some upgraded package seems to have caused some low level incompatibility between ROS versions. The issue was resolved by running a rolling image of the MicroRos agent which ended up fixing the buffer stream error.

There is still no guarantee of compatability between the Humble version on the Yaskawa, the rolling MicroRos agent, and the Iron Development container so I don't consider this fully resolved necessarilly but the nodes and topics are publishing again and the FollowJointTrajectory action server is working as well.

[gavanderhoorn]

Thanks for the update.

Please note: MotoROS2 is not compatible with Iron nor with Rolling.

This is clearly stated in the documentation, section General Requirements:

ROS 2 version: Foxy, Galactic or Humble. MotoROS2 does not support ROS 2 Iron Irwini nor Rolling Ridley.

Message compatibility between Humble and Iron specifically (and Rolling) was broken, and (de)serialisation changed.

I would really recommend not mixing-and-matching (micro)ROS 2 versions like this.

[gavanderhoorn]

@luke-reframe: do you currently require remapping functionality?

We're working on native Iron support, but upstream changed a few things around remapping.

If you're not using any remaps, we could provide you with a beta build of MotoROS2 with Iron support.