issues getting to node init about micro_ros_espidf_component

[pablogs9]

Can you share the output of the agent with the -v6 flag?
Also, can you share the output of the ESP32 given with idf.py monitor?

[frett27]

i got the same configuration (esp32, with the micro_ros_espidf_component, and a fresh source compiled microros agent on foxy.
the agent running
the first microros connection, stopped the agent ?

here is the logs in -v6

[nix-shell:~/ros-nix/dev-ws-ros2]$ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6
[1640456550.953239] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1640456550.953363] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1640456556.823682] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x00000000, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 7A D8 DD 56 81 00 FC 01
[1640456556.823763] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x00000000, len: 24, data: 
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 7A D8 DD 56 81 00 FC 01
[1640456556.823888] info     | Root.cpp           | create_client            | create                 | client_key: 0x7AD8DD56, session_id: 0x81
[1640456556.823956] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x7AD8DD56, address: 192.168.1.23:37062
[1640456556.823994] info     | SessionManager.hpp | establish_session        | session re-established | client_key: 0x7AD8DD56, address: 192.168.1.23:37062
[1640456556.824104] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x7AD8DD56, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1640456556.824174] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x7AD8DD56, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1640456556.833159] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x7AD8DD56, len: 40, data: 
0000: 81 80 00 00 01 07 20 00 00 0A 00 01 01 03 00 00 12 00 00 00 00 01 00 00 0A 00 00 00 61 72 6D 5F
0020: 72 6F 62 6F 74 00 00 00
[1640456556.835062] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x7AD8DD56, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1640456556.835094] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x7AD8DD56, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1640456556.837678] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x7AD8DD56, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1640456556.837713] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x7AD8DD56, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80

on the ESP side,

I (617) wifi:Init static rx buffer size: 1600
I (617) wifi:Init static rx buffer num: 10
I (627) wifi:Init dynamic rx buffer num: 32
I (627) wifi_init: rx ba win: 6
I (637) wifi_init: tcpip mbox: 32
I (637) wifi_init: udp mbox: 6
I (637) wifi_init: tcp mbox: 6
I (647) wifi_init: tcp tx win: 5744
I (647) wifi_init: tcp rx win: 5744
I (657) wifi_init: tcp mss: 1440
I (657) wifi_init: WiFi IRAM OP enabled
I (657) wifi_init: WiFi RX IRAM OP enabled
I (667) phy_init: phy_version 4660,0162888,Dec 23 2020
I (767) wifi:mode : sta (24:6f:28:85:cc:08)
I (767) wifi_station_netif: wifi_init_sta finished.
I (777) wifi:new:<1,0>, old:<1,0>, ap:<255,255>, sta:<1,0>, prof:1
I (777) wifi:state: init -> auth (b0)
I (787) wifi:state: auth -> assoc (0)
I (797) wifi:state: assoc -> run (10)
I (847) wifi:connected with Livebox-9680, aid = 2, channel 1, BW20, bssid = 18:82:8c:0c:96:80
I (847) wifi:security: WPA2-PSK, phy: bgn, rssi: -67
I (847) wifi:pm start, type: 1

I (947) wifi:AP's beacon interval = 102400 us, DTIM period = 3
I (1567) esp_netif_handlers: sta ip: 192.168.1.23, mask: 255.255.255.0, gw: 192.168.1.1
I (1567) wifi_station_netif: got ip:192.168.1.23
I (1567) wifi_station_netif: connected to ap SSID:Livebox-9680 password:XXXXXXXXXX
Executing on core 1
I (1587) PCA9685: Freq 50Hz, real 50
In task, init the allocator and stack
micro-ROS transport: connected using UDP mode, ip: '192.168.1.19', port: '8888'
create node
Failed status on line 259: 1. Aborting.

line 259, correspond to 👍

	printf("Executing on core %d\n", xPortGetCoreID());
    i2c_example_master_init();

	printf("In task, init the allocator and stack\n");

	rcl_allocator_t allocator = rcl_get_default_allocator();
	rclc_support_t support;

	// Create init_options.
	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
	RCCHECK(rcl_init_options_init(&init_options, allocator));
	rmw_init_options_t *rmw_options = rcl_init_options_get_rmw_init_options(&init_options);

	// Use static agent IP and port.
	RCCHECK(rmw_uros_options_set_udp_address(CONFIG_MICRO_ROS_AGENT_IP, CONFIG_MICRO_ROS_AGENT_PORT, rmw_options));

	// Setup support structure.
	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

	// Create node.

	printf("create node\n");

	rcl_node_t node = rcl_get_zero_initialized_node();
THIS LINE	>>>>>>      RCCHECK(rclc_node_init_default(&node, "arm_robot", "", &support));

[pablogs9]

If you use micro-ROS agent docker for galactic it works but with foxy no? have I understood correctly?

[pablogs9]

Any update on this?

[frett27]

Thank you for the follow up @pablogs9 , i don't know for the original author, on my side, i switched to docker, for the microros agent, works fine . Will give it a try on galactic