Fast DDS Subscriber "Failed init_port"

[wrgtri]

Expected Behavior

Running

DomainParticipantQos pqos;
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);

should run without errors.

Current Behavior

When participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos); is called (specifically create_participant(), the following error is produced

2021-07-28 12:49:37.829 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7412: open_and_lock_file failed -> Function open_port_internal
2021-07-28 12:49:37.831 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal

Additional context

I have set up an outside application to receive Fast DDS messages from ROS2. I have been able to test that I can receive ros2 topic messages in a simple outside fast dds subscriber (generated using fastddsgen -example CMake MyMsg.idl).

Now I am trying to incorporate the Fast DDS subscriber code into another application. However, the above error is produced in the MyMsgSubscriber.cxx (created using fastddsgen command above), in MyMsgSubsriber::init(), line participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);. Why is this error occurring? Thank you

System information

• Fast-DDS version: 2.3.0
• OS: Ubuntu 20.04
• ROS2: Foxy

[MiguelCompany]

Hi @wrgtri

Could you check if running fastdds shm clean solves your issue?

[wrgtri]

Could you check if running fastdds shm clean solves your issue?

Hi @MiguelCompany
Unfortunately that did not work. I ran that command and got

0 ports in use
0 segments in use
2 zombie ports cleaned
1 zombie segments cleaned

But when I rerun the ros2 publisher and then the fastdds subscriber, I get the same error again in whichever terminal (publisher or subscriber) was run second.

[wrgtri]

Error was caused by having two installations of FastDDS, one that came with ROS2 and another that I installed. My programs were then calling alternate versions, so they were "stepping on each other's toes." Solution was to uninstall the extra one and have both use the FastDDS that comes with ROS2.