Comments (9)
llapx
commented on August 17, 2024
1
sorry, I forget to export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp, now I can reproduct the BUG.
from rmw_cyclonedds.
bopeng-saitama
commented on August 17, 2024
1
Thanks for the reply.
I'm wondering if this matches the symptom you are observing.
Yes, the symptom is the same as waht I observed.
from rmw_cyclonedds.
afrixs
commented on August 17, 2024
1
@afrixs I also encountered the same issue in my environment. Have you solved the problem?
Unfortunately I haven't... Currently I run nodes which need to publish transient_local topics without shared memory, that's my temporary "workaround"
from rmw_cyclonedds.
llapx
commented on August 17, 2024
Can not reproduct with latest ros:rolling, can you provide more detail log?
# dpkg -l | grep cyclonedds
ii ros-rolling-cyclonedds 0.9.0-1jammy.20220711.134212 amd64 Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation.
ii ros-rolling-rmw-cyclonedds-cpp 1.4.0-1jammy.20220711.152242 amd64 Implement the ROS middleware interface using Eclipse CycloneDDS in C++.from rmw_cyclonedds.
afrixs
commented on August 17, 2024
Package versions:
$ dpkg -l | grep -E "cyclonedds|iceoryx|ros2cli|ros-rolling-robot-state-publisher"
ii ros-rolling-cyclonedds 0.9.0-1jammy.20220711.134212 amd64 Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation.
ii ros-rolling-iceoryx-binding-c 2.0.2-1jammy.20220711.133552 amd64 Eclipse iceoryx inter-process-communication (IPC) middleware C-Language Binding
ii ros-rolling-iceoryx-hoofs 2.0.2-1jammy.20220711.130813 amd64 Eclipse iceoryx inter-process-communication (IPC) middleware basic building blocks
ii ros-rolling-iceoryx-posh 2.0.2-1jammy.20220711.131117 amd64 Eclipse iceoryx inter-process-communication (IPC) middleware Posix Shared Memory Library and middleware daemon (RouDi)
ii ros-rolling-rmw-cyclonedds-cpp 1.4.0-1jammy.20220726.201039 amd64 Implement the ROS middleware interface using Eclipse CycloneDDS in C++.
ii ros-rolling-rmw-cyclonedds-cpp-dbgsym 1.4.0-1jammy.20220726.201039 amd64 debug symbols for ros-rolling-rmw-cyclonedds-cpp
ii ros-rolling-robot-state-publisher 3.1.0-1jammy.20220815.144819 amd64 This package take the joint angles of a robot as input, and publishes the 3D poses of the robot links to tf2, using a kinematic tree model of the robot.
ii ros-rolling-ros2cli 0.19.0-1jammy.20220726.233741 amd64 Framework for ROS 2 command line tools.
ii ros-rolling-ros2cli-common-extensions 0.2.0-1jammy.20220727.035404 amd64 Meta package for ros2cli common extensions
$ iox-roudi -v
RouDi version: 2.0.2
Build date: 2022-07-11T13:11:18Z
Commit ID:
iox-roudi log (+ added separating lines after each step):
$ iox-roudi -l verbose
2022-08-31 10:02:45.197 [ Info ]: No config file provided and also not found at '/etc/iceoryx/roudi_config.toml'. Falling back to built-in config.
Log level set to: [Verbose]
2022-08-31 10:02:45.197 [Verbose]: Command line parameters are:
Log level: Verbose
Monitoring mode: MonitoringMode::ON
Compatibility check level: CompatibilityCheckLevel::PATCH
Unique RouDi ID: < unset >
Process kill delay: 45 s
Config file used is: < none >
Reserving 66761736 bytes in the shared memory [iceoryx_mgmt]
[ Reserving shared memory successful ]
2022-08-31 10:02:45.233 [ Debug ]: Registered memory segment 0x7ffbc8d72000 with size 66761736 to id 1
Reserving 149264720 bytes in the shared memory [matej]
[ Reserving shared memory successful ]
2022-08-31 10:02:45.312 [ Debug ]: Roudi registered payload data segment 0x7ffbbff18000 with size 149264720 to id 2
RouDi is ready for clients
######################## after running Terminal1 command ############################
2022-08-31 10:03:16.076 [ Debug ]: Registered new application iceoryx_rt_134727_1661932996075633044
2022-08-31 10:03:16.077 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_134727_1661932996075633044
2022-08-31 10:03:16.079 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:03:16.093 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Response_, Event: rr/robot_state_publisher/get_parametersReply'
2022-08-31 10:03:16.103 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'!
2022-08-31 10:03:16.103 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'
2022-08-31 10:03:16.104 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Response_, Event: rr/robot_state_publisher/get_parameter_typesReply'
2022-08-31 10:03:16.115 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'!
2022-08-31 10:03:16.115 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'
2022-08-31 10:03:16.115 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Response_, Event: rr/robot_state_publisher/set_parametersReply'
2022-08-31 10:03:16.126 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'!
2022-08-31 10:03:16.126 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'
2022-08-31 10:03:16.127 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Response_, Event: rr/robot_state_publisher/set_parameters_atomicallyReply'
2022-08-31 10:03:16.137 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'!
2022-08-31 10:03:16.137 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'
2022-08-31 10:03:16.138 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Response_, Event: rr/robot_state_publisher/describe_parametersReply'
2022-08-31 10:03:16.148 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'!
2022-08-31 10:03:16.148 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'
2022-08-31 10:03:16.151 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Response_, Event: rr/robot_state_publisher/list_parametersReply'
2022-08-31 10:03:16.161 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'!
2022-08-31 10:03:16.161 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'
2022-08-31 10:03:16.163 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:03:16.174 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:03:16.177 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf'
2022-08-31 10:03:16.190 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf_static'
2022-08-31 10:03:16.203 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: std_msgs::msg::dds_::String_, Event: rt/robot_description'
2022-08-31 10:03:16.219 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'!
2022-08-31 10:03:16.219 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'
2022-08-31 10:03:16.220 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134727_1661932996075633044' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
############################## after running Terminal2 command #####################################
2022-08-31 10:03:55.200 [ Debug ]: Registered new application iceoryx_rt_134764_1661933035199407867
2022-08-31 10:03:55.201 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_134764_1661933035199407867
2022-08-31 10:03:55.203 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134764_1661933035199407867' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:03:55.232 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134764_1661933035199407867' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:03:55.465 [ Debug ]: Registered new application iceoryx_rt_134776_1661933035465280738
2022-08-31 10:03:55.467 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_134776_1661933035465280738
2022-08-31 10:03:55.469 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134776_1661933035465280738' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:03:55.500 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134776_1661933035465280738' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:03:55.795 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134764_1661933035199407867' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf_static'
############################### after running Terminal 3 command (no message received) ##########################
2022-08-31 10:04:30.864 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Response_, Event: rr/robot_state_publisher/get_parametersReply'
2022-08-31 10:04:30.864 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Response_, Event: rr/robot_state_publisher/get_parameter_typesReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Response_, Event: rr/robot_state_publisher/set_parametersReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Response_, Event: rr/robot_state_publisher/set_parameters_atomicallyReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Response_, Event: rr/robot_state_publisher/describe_parametersReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Response_, Event: rr/robot_state_publisher/list_parametersReply'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf_static'
2022-08-31 10:04:30.865 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: std_msgs::msg::dds_::String_, Event: rt/robot_description'
2022-08-31 10:04:30.865 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'
2022-08-31 10:04:30.866 [ Debug ]: Destroy subscriber port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:04:31.816 [ Debug ]: Destroy publisher port from runtime 'iceoryx_rt_134727_1661932996075633044' and with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:04:31.816 [ Debug ]: Deleted condition variable of applicationiceoryx_rt_134727_1661932996075633044
2022-08-31 10:04:31.816 [ Debug ]: Removed existing application iceoryx_rt_134727_1661932996075633044
################################### after canceling Terminal2 command (Ctrl+C) ###############################
2022-08-31 10:05:21.139 [ Debug ]: Registered new application iceoryx_rt_134862_1661933121138739923
2022-08-31 10:05:21.140 [ Debug ]: Created new ConditionVariable for application iceoryx_rt_134862_1661933121138739923
2022-08-31 10:05:21.142 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_, Event: ros_discovery_info'
2022-08-31 10:05:21.156 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Response_, Event: rr/robot_state_publisher/get_parametersReply'
2022-08-31 10:05:21.166 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'!
2022-08-31 10:05:21.166 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameters_Request_, Event: rq/robot_state_publisher/get_parametersRequest'
2022-08-31 10:05:21.167 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Response_, Event: rr/robot_state_publisher/get_parameter_typesReply'
2022-08-31 10:05:21.178 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'!
2022-08-31 10:05:21.178 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::GetParameterTypes_Request_, Event: rq/robot_state_publisher/get_parameter_typesRequest'
2022-08-31 10:05:21.181 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Response_, Event: rr/robot_state_publisher/set_parametersReply'
2022-08-31 10:05:21.192 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'!
2022-08-31 10:05:21.192 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParameters_Request_, Event: rq/robot_state_publisher/set_parametersRequest'
2022-08-31 10:05:21.196 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Response_, Event: rr/robot_state_publisher/set_parameters_atomicallyReply'
2022-08-31 10:05:21.206 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'!
2022-08-31 10:05:21.206 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::SetParametersAtomically_Request_, Event: rq/robot_state_publisher/set_parameters_atomicallyRequest'
2022-08-31 10:05:21.210 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Response_, Event: rr/robot_state_publisher/describe_parametersReply'
2022-08-31 10:05:21.221 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'!
2022-08-31 10:05:21.221 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::DescribeParameters_Request_, Event: rq/robot_state_publisher/describe_parametersRequest'
2022-08-31 10:05:21.224 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Response_, Event: rr/robot_state_publisher/list_parametersReply'
2022-08-31 10:05:21.235 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'!
2022-08-31 10:05:21.235 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::srv::dds_::ListParameters_Request_, Event: rq/robot_state_publisher/list_parametersRequest'
2022-08-31 10:05:21.239 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:05:21.251 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
2022-08-31 10:05:21.258 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf'
2022-08-31 10:05:21.270 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: tf2_msgs::msg::dds_::TFMessage_, Event: rt/tf_static'
2022-08-31 10:05:21.284 [ Debug ]: Created new PublisherPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: std_msgs::msg::dds_::String_, Event: rt/robot_description'
2022-08-31 10:05:21.298 [ Debug ]: capro::SUB/UNSUB, no matching publisher for subscriber from runtime 'iceoryx_rt_134862_1661933121138739923' and with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'!
2022-08-31 10:05:21.298 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: sensor_msgs::msg::dds_::JointState_, Event: rt/joint_states'
2022-08-31 10:05:21.299 [ Debug ]: Created new SubscriberPort for application 'iceoryx_rt_134862_1661933121138739923' with service description 'Service: DDS_CYCLONE, Instance: rcl_interfaces::msg::dds_::ParameterEvent_, Event: rt/parameter_events'
################################## after re-running Terminal2 command (a message got received) ###################
from rmw_cyclonedds.
afrixs
commented on August 17, 2024
Edited the commands so that this doesn't happen to anyone else
from rmw_cyclonedds.
bopeng-saitama
commented on August 17, 2024
@afrixs
I also encountered the same issue in my environment. Have you solved the problem?
I have made a reproduce repo for this issue. https://github.com/bopeng-saitama/transient_local_iceoryx
Steps to reproduce issue:
#Terminal 1
iox-roudi
#Terminal 2
cd ~/transient_local_iceoryx
source /opt/ros/humble/setup.bash
source install/setup.bash
CYCLONEDDS_URI=file://$PWD/cyclonedds.xml ros2 run transient_local_iceoryx transient_local_pub
#Terminal 3
cd ~/transient_local_iceoryx
source /opt/ros/humble/setup.bash
source install/setup.bash
CYCLONEDDS_URI=file://$PWD/cyclonedds.xml ros2 run transient_local_iceoryx transient_local_sub
from rmw_cyclonedds.
eboasson
commented on August 17, 2024
The other day I discovered what appeared to be a problem in Iceoryx' handling of publisher histories, where it would receive the data in the Iceoryx subscription but not notify the "application" — here, that would be Cyclone — that there is data ready for reading. Once fresh data arrives, it triggers and suddenly everything shows up.
I'm wondering if this matches the symptom you are observing. I'm not sure whether there is fresh data being published in your case.
Also I haven't reported it to the Iceoryx guys yet.
from rmw_cyclonedds.
duyu
commented on August 17, 2024
I ran into this issue as well, is there any update on this after another 1 year?
$ dpkg -l | grep -E "cyclonedds|iceoryx|ros2cli|robot-state-publisher"
ii ros-humble-cyclonedds 0.10.4-1jammy.20240217.025716 amd64 Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation.
ii ros-humble-iceoryx-binding-c 2.0.5-1jammy.20240217.025528 amd64 Eclipse iceoryx inter-process-communication (IPC) middleware C-Language Binding
ii ros-humble-iceoryx-hoofs 2.0.5-1jammy.20240217.024457 amd64 Eclipse iceoryx inter-process-communication (IPC) middleware basic building blocks
ii ros-humble-iceoryx-posh 2.0.5-1jammy.20240217.024825 amd64 Eclipse iceoryx inter-process-communication (IPC) middleware Posix Shared Memory Library and middleware daemon (RouDi)
ii ros-humble-rmw-cyclonedds-cpp 1.3.4-1jammy.20240217.062033 amd64 Implement the ROS middleware interface using Eclipse CycloneDDS in C++.
ii ros-humble-robot-state-publisher 3.0.3-2jammy.20240217.085950 amd64 This package take the joint angles of a robot as input, and publishes the 3D poses of the robot links to tf2, using a kinematic tree model of the robot.
ii ros-humble-ros2cli 0.18.9-1jammy.20240217.070501 amd64 Framework for ROS 2 command line tools.
ii ros-humble-ros2cli-common-extensions 0.1.1-4jammy.20240217.081520 amd64 Meta package for ros2cli common extensions
$ iox-roudi -v
RouDi version: 2.0.5
Build date: 2024-02-17T02:48:26Z
Commit ID:
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