ESP32 keep rebooting when trying to use rosserial

[akmakaiau]

Hardware:

Board: DOIT ESP32 DEVKIT V1
IDE name: Arduino IDE 1.8.12
Flash Frequency: 80 MHz (I have also tried 40MHz)
PSRAM enabled: no
Upload Speed: 921600
Computer OS: Ubuntu 18.04

Description:

The ESP32 continuously reboots when I upload the example HelloWorld sketch from the ros_lib library. This also happens with the Blink (subscriber) example. All solutions outlined in this thread has not worked for me.

The board works for other sketches that do not use ROS.

I apologize of the decoder stack results are unclear, the decoder is not working properly for me right now and all I had was this screenshot.

Sketch:

/*
 * rosserial Publisher Example
 * Prints "hello world!"
 */

#include <ros.h>
#include <std_msgs/String.h>


ros::NodeHandle  nh;

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

char hello[13] = "hello world!";

void setup()
{
  nh.initNode();
  nh.advertise(chatter);
}

void loop()
{
  str_msg.data = hello;
  chatter.publish( &str_msg );
  nh.spinOnce();
  delay(1000);
}

Serial Monitor Output:

rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:2
load:0x3fff0018,len:4
load:0x3fff001c,len:1216
ho 0 tail 12 room 4
load:0x40078000,len:9720
ho 0 tail 12 room 4
load:0x40080400,len:6364
entry 0x400806b8
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/freertos/queue.c:1442 (xQueueGenericReceive)- assert failed!
abort() was called at PC 0x40087c45 on core 1

Backtrace: 0x4008b734:0x3ffb1d80 0x4008b965:0x3ffb1da0 0x40087c45:0x3ffb1dc0 0x400f93e2:0x3ffb1e00 0x400f95c6:0x3ffb1e20 0x400eba4c:0x3ffb1e40 0x400ebab5:0x3ffb1e60 0x400e8c52:0x3ffb1e80 0x400e7adc:0x3ffb1ea0 0x400eb2d0:0x3ffb1ee0 0x400d254e:0x3ffb1f00 0x400d1f46:0x3ffb1f50 0x400d1a87:0x3ffb1f80 0x400d2e07:0x3ffb1fb0 0x40087f19:0x3ffb1fd0

Decoding Stack Results:

[LorenzF]

I was having the same problem, after some digging in the source code I found out that ROS opts to use a wifi connection over the serial connection if you program an ESP32 .
If you want to circumvent this you can manually change the ros.h file in your library folder (for me this was ~/Arduino/libraries/ros_lib/ros.h)

I changed:

#if defined(ESP8266) or defined(ESP32) or defined(ROSSERIAL_ARDUINO_TCP)
  #include "ArduinoTcpHardware.h"
#else
  #include "ArduinoHardware.h"
#endif

Into:

#if defined(ROSSERIAL_ARDUINO_TCP)
  #include "ArduinoTcpHardware.h"
#else
  #include "ArduinoHardware.h"
#endif

This meant regular arduino hardware config was loaded instead of the Wifi version.
Also, standard a baud rate of 57600 is used, that was my second mistake!

Good luck!

[akmakaiau]

@LorenzF Thank you that worked for me! Appreciate the help!!

[noshluk2]

I was having the same problem, after some digging in the source code I found out that ROS opts to use a wifi connection over the serial connection if you program an ESP32 . If you want to circumvent this you can manually change the ros.h file in your library folder (for me this was ~/Arduino/libraries/ros_lib/ros.h)

I changed:

#if defined(ESP8266) or defined(ESP32) or defined(ROSSERIAL_ARDUINO_TCP)
  #include "ArduinoTcpHardware.h"
#else
  #include "ArduinoHardware.h"
#endif

Into:

#if defined(ROSSERIAL_ARDUINO_TCP)
  #include "ArduinoTcpHardware.h"
#else
  #include "ArduinoHardware.h"
#endif

This meant regular arduino hardware config was loaded instead of the Wifi version. Also, standard a baud rate of 57600 is used, that was my second mistake!

Good luck!

For me your solution + wifi connectivity delay was the solution

#define ROSSERIAL_ARDUINO_TCP #LorenzF solution -> which is now updated in noetic-devel -> ros_lib->ros.h
#include "WiFi.h"
#include <ros.h>
#include <std_msgs/Int16.h>
#define IR_pin 16

void setup()
{ 
  Serial.begin(115200);
  Serial.println();
  Serial.print("Connecting to ");
  Serial.println(ssid);
  WiFi.begin(ssid, password);
  
  while (WiFi.status() != WL_CONNECTED) # -> wifi delay -> a must -> other wise it will restart continuously 
  { delay(500);
    Serial.print(".");
  }
  Serial.println("WiFi connected - IP address:  ");
  Serial.println(WiFi.localIP());
  nh.getHardware()->setConnection(server, serverPort);
  nh.initNode();
  nh.advertise(ir_values_node);
  pinMode(IR_pin,INPUT);
}

Order of the code lines is important

[mattwilliamson]

Came here you point out this works for me:

#undef ESP32
#include <ros.h>
#define ESP32

[elnas]

Thank you guyz :)