run example error

[mengchaoheng]

topic can't listening by ros2 run demo_nodes_cpp listener

parallels@ubuntu-linux-20-04-desktop:~/DDS-Router/install/ddsrouter_tool/share/resources/configurations/examples$ ddsrouter -c change_domain_allowlist.yaml 
Starting DDS Router Tool execution.
DDS Router running.

parallels@ubuntu-linux-20-04-desktop:~/FastDDSGenHelloWorld/build$ ROS_DOMAIN_ID=0 ros2 run demo_nodes_cpp talker
[INFO] [1675612035.867491964] [talker]: Publishing: 'Hello World: 1'
[INFO] [1675612036.867868934] [talker]: Publishing: 'Hello World: 2'
[INFO] [1675612037.870178882] [talker]: Publishing: 'Hello World: 3'
[INFO] [1675612038.870980998] [talker]: Publishing: 'Hello World: 4'
[INFO] [1675612039.869903435] [talker]: Publishing: 'Hello World: 5'
[INFO] [1675612040.870213935] [talker]: Publishing: 'Hello World: 6'
[INFO] [1675612041.874682112] [talker]: Publishing: 'Hello World: 7'
[INFO] [1675612042.875003580] [talker]: Publishing: 'Hello World: 8'
[INFO] [1675612043.875383813] [talker]: Publishing: 'Hello World: 9'

parallels@ubuntu-linux-20-04-desktop:~/FastDDSGenHelloWorld/build$ ROS_DOMAIN_ID=1 ros2 run demo_nodes_cpp listener
2023-02-05 23:47:18.643 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7662: open_and_lock_file failed -> Function open_port_internal
2023-02-05 23:47:18.643 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7663: open_and_lock_file failed -> Function open_port_internal

[mengchaoheng]

the router file is :

########################################
# CHANGE DOMAIN WITH ALLOWLIST EXAMPLE #
########################################

##################################
# CONFIGURATION VERSION
version: v3.0                                                               # 0

##################################
# ALLOWED TOPICS
# Allowing FastDDS and ROS2 HelloWorld demo examples topics

allowlist:
  - name: HelloWorldTopic                                                   # 1
    type: HelloWorld                                                        # 1
  - name: rt/chatter                                                        # 2
    type: std_msgs::msg::dds_::String_

##################################
# PARTICIPANTS
participants:

##################################
# SIMPLE PARTICIPANT DOMAIN 0
# This participant subscribes to allowlist topics in DDS Domain 0 and listen every message published in such DDS Domain

  - name: SimpleParticipant_domain0                                         # 3
    kind: local                                                             # 4
    domain: 0                                                               # 5

##################################
# SIMPLE PARTICIPANT DOMAIN 1
# This participant subscribes to allowlist topics in DDS Domain 1 and listen every message published in such DDS Domain

  - name: SimpleParticipant_domain1                                         # 6
    kind: local                                                             # 7
    domain: 1                                                               # 8


##################################
# CONFIGURATION DESCRIPTION

# This configuration example configures a DDS Router to listen to every message published in two different domains
# and transmit those messages through the other domain.

# 0: Use YAML configuration version v3.0

# 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.

# 2: Insert new topics in order to route to them.

# 3: New Participant with name <SimpleParticipant_domain0>.

# 4: Kind of SimpleParticipant_domain0: <local>.
# LAN UDP communication with default simple multicast discovery.

# 5: SimpleParticipant_domain0 will use DDS Domain ID <0>.

# 6: New Participant with name <SimpleParticipant_domain1>.

# 7: Kind of SimpleParticipant_domain1: <local>.

# 8: SimpleParticipant_domain1 will use DDS Domain ID <1>.

[juanlofer-eprosima]

Hi @mengchaoheng

First of all, thank you for using DDS-Router and help us improve the product.

Regarding the issue, it would be helpful for us to know some details on your setup so we are able to offer an accurate solution; which version of DDS-Router are you using? What about your ROS 2 setup?

We have an idea on what the problem might be, as we are working to solve some inconsistencies related to Shared Memory Transport introduced in the development branch. Thus, we suggest to build instead the latest released version (DDS-Router v1.1.0, built on top of Fast-DDS v2.9.0) and check if the issue is still there.

Best regards

[mengchaoheng]

which version of DDS-Router are you using?

parallels@ubuntu-linux-20-04-desktop:~/DDS-Router/install/ddsrouter_tool/share/resources/configurations/examples$ ddsrouter -v
DDSRouter v1.1.0
commit hash: 86e2241347887ef3438a0ec35611feae10b3a80f

What about your ROS 2 setup?

the ros2 version is foxy on

resources/configurations/examples$ uname --all
Linux ubuntu-linux-20-04-desktop 5.15.0-58-generic #64~20.04.1-Ubuntu SMP Fri Jan 6 16:45:34 UTC 2023 aarch64 aarch64 aarch64 GNU/Linux

and fast dds is install 2.9.1 version and fastddsgen is

parallels@ubuntu-linux-20-04-desktop:~/DDS-Router/install/ddsrouter_tool/share/resources/configurations/examples$ fastddsgen -v
openjdk version "13.0.7" 2021-04-20
OpenJDK Runtime Environment (build 13.0.7+5-Ubuntu-0ubuntu120.04)
OpenJDK 64-Bit Server VM (build 13.0.7+5-Ubuntu-0ubuntu120.04, mixed mode)

and, the .bashrc file is

# dds
source ~/Fast-DDS/install/setup.bash # have to , this is Colcon installation
export LD_LIBRARY_PATH=~/test_build/Fast-DDS/install/lib/ #why Could not find a package configuration file provided by "fastcdr"? so I command this line. this is CMake installation.
# gen
export PATH=/home/parallels/Fast-DDS/src/fastddsgen/scripts/:$PATH
export PATH=/home/parallels/Micro-XRCE-DDS-Gen/scripts/:$PATH
# dds-router
source ~/DDS-Router/install/setup.bash
export PATH=/home/parallels/DDS-Router/install/ddsrouter_tool/bin:$PATH
# some install lib
export PATH=/usr/local/lib/:$PATH

# ros2
source /opt/ros/foxy/setup.bash

and I really don't know how to deal with the relationship between the various versions of dds. For example, I installed fast dds when I installed ros2, and then I installed it, and then I installed the latest version 2.9.1, and source ~/Fast-DDS/install/setup .bash , finally I found an error when running the case, so I had to export LD_LIBRARY_PATH=~/test_build/Fast-DDS/install/lib/

[juanlofer-eprosima]

Thank you for the report. Indeed, it seems that you have compiled DDS-Router main branch. If possible, please test my suggestion (build DDS-Router v1.1.0 and Fast-DDS v2.9.0) before digging any further.

Cheers