AP_DDS: added support for UDP transport #23586
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nice! great to see this! |
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Thanks for this support! This one's been a long time coming.
Good news: serial still works
Bad news: Initialization didn't pass on UDP with the following settings.
Yes, I enabled DDS.
ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xml
sim_vehicle.py -v ArduPlane --console --enable-dds
stuck on:
AP: DDS Client: Initialization waiting...
After Dev call tomorrow I will have time to drop into a GDB session if you need.
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just tested it on my system..works fine for the udp transport running the following command
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Checked on macOS and with updated ROS 2 launch scripts: https://github.com/srmainwaring/ardupilot/tree/wips/wip-dds-udp-launch (tests have not yet been updated). |
It was suspected that I didn't have the params set. After a reboot, still no luck. |
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Go ahead and merge. Everyone else has got this working. It's an issue on my side. |
Ryanf55
changed the title
libraries/AP_DDS/AP_DDS_Client.cpp
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| reliable_in = uxr_create_input_reliable_stream(&session, input_reliable_stream, BUFFER_SIZE_SERIAL, STREAM_HISTORY); | ||
| reliable_out = uxr_create_output_reliable_stream(&session, output_reliable_stream, BUFFER_SIZE_SERIAL, STREAM_HISTORY); |
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Remove? - creates a pair of streams which are not used (the pair ofuxrStreamId created in the if-else below has uxrStreamId.index incremented).
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@Ryanf55 @arshPratap rewritten to use custom transport for both UDP and serial, so we only have to link one transport |
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I wasn't able to get either serial or udp to initialize properly.
On UDP, no topics show up, but the node is there.
ryan@ryan-B650:~/Development/ardu_ws$ ros2 node list
/Ardupilot_DDS_XRCE_Client
ryan@ryan-B650:~/Development/ardu_ws$ ros2 topic list
/parameter_events
/rosout
On serial, it does not pass initialization.
libraries/AP_DDS/README.md
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| @@ -91,6 +92,7 @@ Run the simulator with the following command. Take note how two parameters need | |||
| sim_vehicle.py -w -v ArduPlane | |||
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Can you add --enable-dds too? It's missing.
| @@ -126,9 +126,9 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = { | |||
| #endif | |||
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| #if AP_DDS_ENABLED | |||
| // @Group: XRCE | |||
| // @Group: DDS | |||
| // @Path: ../AP_DDS/AP_DDS_Client.cpp | |||
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Looks like some indent alignment issues here.
this allows for an DDS_ENABLED parameter
and switch serial transport to use custom transport
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Approved. Serial and UDP work.
Tested TCP failed, we can look into this later.
ryan@ryan-B650:~/Development/ardu_ws/src/ardupilot/libraries/AP_DDS$ ros2 run micro_ros_agent micro_ros_agent tcp4 -p 2019 -r dds_xrce_profile.xml -v 5
[1683082402.146296] info | TCPv4AgentLinux.cpp | init | running... | port: 2019
[1683082402.146669] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 5
[1683082441.202584] debug | TCPv4AgentLinux.cpp | recv_message | [==>> TCP <<==] | client_key: 0x00000000, len: 8240
[1683082442.100784] debug | TCPv4AgentLinux.cpp | recv_message | [==>> TCP <<==] | client_key: 0x00000000, len: 80
terminate called after throwing an instance of 'eprosima::fastcdr::exception::BadParamException'
what(): Unexpected byte value in Cdr::deserialize(bool), expected 0 or 1
[ros2run]: Aborted
sim_vehicle.py -v ArduPlane -D --console --enable-dds -A "--uartC=tcpclient:127.0.0.1:2019"
....
enable UDP transport on SITL. It will be enabled on ChibiOS once ethernet support is merged to master
pair programmed with @arshPratap