Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226' #200

Closed
sgf201 opened this issue Mar 17, 2023 · 6 comments · Fixed by #233
Closed

create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226' #200

sgf201 opened this issue Mar 17, 2023 · 6 comments · Fixed by #233
Labels
bug Something isn't working

Comments

@sgf201
Copy link

sgf201 commented Mar 17, 2023

Description
create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226'
the topic is not advertised

Version:ROS2 humble bridge with WebSocket++/0.8.2
Platform: ubuntu22

Steps To Reproduce

Qos set to rclcpp::QoS qos(rclcpp::KeepLast{7});

Expected Behavior
topic advertised

        [rcutils|error_handling.c:108] rcutils_set_error_state()
        This error state is being overwritten:

'Unknown QoS history policy, at ./src/qos.cpp:61'

with this new error message:

'create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1678937020.102152168] [foxglove_bridge]: Failed to create publisher: could not create publisher: create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226, at ./src/rcl/publisher.c:116
[WARN] [1678937020.102373126] [foxglove_bridge]: Ignoring client unadvertisement from 192.168.6.195:52050 for unknown channel 3, client has 0 advertised topic(s)
[INFO] [1678937020.104918817] [foxglove_bridge]: Client 192.168.6.195:52050 is advertising "/move_base_simple/goal" (geometry_msgs/PoseStamped) on channel 4
[INFO] [1678937020.105093695] [foxglove_bridge]: Client 192.168.6.195:52050 is no longer advertising /move_base_simple/goal (0 subscribers) on channel 4
[INFO] [1678937020.109083689] [foxglove_bridge]: Client 192.168.6.195:52050 is advertising "/move_base_simple/goal" (geometry_msgs/PoseStamped) on channel 5
[INFO] [1678937020.110877709] [foxglove_bridge]: Client 192.168.6.195:52050 is advertising "/clicked_point" (geometry_msgs/PointStamped) on channel 6
[INFO] [1678937020.111063987] [foxglove_bridge]: Client 192.168.6.195:52050 is no longer advertising /move_base_simple/goal (0 subscribers) on channel 5
[INFO] [1678937020.111169025] [foxglove_bridge]: Client 192.168.6.195:52050 is no longer advertising /clicked_point (0 subscribers) on channel 6

        [rcutils|error_handling.c:108] rcutils_set_error_state()
        This error state is being overwritten:

'Unknown QoS history policy, at ./src/qos.cpp:61'

with this new error message:

'create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1678937020.114041753] [foxglove_bridge]: Failed to create publisher: could not create publisher: create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226, at ./src/rcl/publisher.c:116

        [rcutils|error_handling.c:108] rcutils_set_error_state()
        This error state is being overwritten:

'Unknown QoS history policy, at ./src/qos.cpp:61'

with this new error message:

'create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1678937020.116081249] [foxglove_bridge]: Failed to create publisher: could not create publisher: create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226, at ./src/rcl/publisher.c:116
[INFO] [1678937020.118165425] [foxglove_bridge]: Client 192.168.6.195:52050 is advertising "/initialpose" (geometry_msgs/PoseWithCovarianceStamped) on channel 9

I compiled the newest code and test result is
[foxglove_bridge-1] [INFO] [1679019306.793229602] [foxglove_bridge]: Client 192.168.6.195:54530 is no longer advertising /move_base_simple/goal (0 subscribers) on channel 5
[foxglove_bridge-1] [INFO] [1679019306.793318962] [foxglove_bridge]: Client 192.168.6.195:54530 is no longer advertising /clicked_point (0 subscribers) on channel 6
[foxglove_bridge-1]
[foxglove_bridge-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[foxglove_bridge-1] This error state is being overwritten:
[foxglove_bridge-1]
[foxglove_bridge-1] 'Unknown QoS history policy, at ./src/qos.cpp:61'
[foxglove_bridge-1]
[foxglove_bridge-1] with this new error message:
[foxglove_bridge-1]
[foxglove_bridge-1] 'create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226'
[foxglove_bridge-1]
[foxglove_bridge-1] rcutils_reset_error() should be called after error handling to avoid this.
[foxglove_bridge-1] <<<
[foxglove_bridge-1] [ERROR] [1679019306.796146855] [foxglove_bridge]: Failed to create publisher: could not create publisher: create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226, at ./src/rcl/publisher.c:116
[foxglove_bridge-1]
[foxglove_bridge-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[foxglove_bridge-1] This error state is being overwritten:
[foxglove_bridge-1]
[foxglove_bridge-1] 'Unknown QoS history policy, at ./src/qos.cpp:61'
[foxglove_bridge-1]
[foxglove_bridge-1] with this new error message:
[foxglove_bridge-1]
[foxglove_bridge-1] 'create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226'
[foxglove_bridge-1]
[foxglove_bridge-1] rcutils_reset_error() should be called after error handling to avoid this.
[foxglove_bridge-1] <<<
[foxglove_bridge-1] [ERROR] [1679019306.798299344] [foxglove_bridge]: Failed to create publisher: could not create publisher: create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226, at ./src/rcl/publisher.c:116
[foxglove_bridge-1] [INFO] [1679019306.800405554] [foxglove_bridge]: Client 192.168.6.195:54530 is advertising "/initialpose" (geometry_msgs/PoseWithCovarianceStamped) on channel 9
[foxglove_bridge-1] [INFO] [1679019307.282059606] [foxglove_bridge]: Removed channel 3 for topic "/clicked_point" (geometry_msgs/msg/PointStamped)
@sgf201 sgf201 added the bug Something isn't working label Mar 17, 2023
@foxhubber
Copy link

foxhubber bot commented Mar 17, 2023

Internal tracking ticket: FG-2519

@achim-k
Copy link
Collaborator

achim-k commented Mar 30, 2023 •
edited
Loading

Steps To Reproduce

Qos set to rclcpp::QoS qos(rclcpp::KeepLast{7});

I don't understand what you mean with that. Could you provide more detailed instructions on how to reproduce this issue?

Edit: NVM, I can reproduce the issue

@defunctzombie
Copy link
Contributor

@achim-k It looks to me like #205 fixes this issue?

@achim-k
Copy link
Collaborator

achim-k commented Apr 5, 2023

Yes, I forgot close this issue.

@achim-k achim-k closed this as completed Apr 5, 2023
@jayv
Copy link

jayv commented Jun 14, 2023 •
edited
Loading

@achim-k can we re-open, despite whatever was done in #205 I'm still seeing the exact same create_publisher() failed setting topic QoS messageon v0.6.2 (0.6.2-1jammy.20230512.142701) which I believe #205 was merged into.
The problem can be reproduced with something as simple as running the talker and listener demos together with foxglove web and bridge and publishing to /chatter from the Foxglove publisher panel. The problem doesn't happen when you don't spin up the talker, and have Foxglove be the first publisher for that topic.
I'm using the osrf/ros:humble-desktop:latest (talker/listener), ghcr.io/foxglove/studio:latest and bridge installed in another container based on humble-desktop.

@achim-k
Copy link
Collaborator

achim-k commented Jun 15, 2023

I can reproduce this with foxglove_bridge 0.6.2 installed in a osrf/ros:humble-desktop docker container and Foxglove Studio with a publish panel. When Studio connects, it advertises the /chatter topic and immediately unadvertises it again, and this a few times consecutively (I'm quite sure that this is a Studio bug).

image

On the server side, I see the following logs. At the beginning and the end, the publisher can be created, but we still see the QoS errors. I will look into this.

Client 172.17.0.1:50466 is advertising "/chatter" (std_msgs/msg/String) on channel 1
Client 172.17.0.1:50466 is no longer advertising /chatter (0 subscribers) on channel 1
Client 172.17.0.1:50466 is advertising "/chatter" (std_msgs/msg/String) on channel 2
Client 172.17.0.1:50466 is no longer advertising /chatter (0 subscribers) on channel 2

[WS] 172.17.0.1:50466: Failed to create publisher: could not create publisher: create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226, at ./src/rcl/publisher.c:116

Client 172.17.0.1:50466 is advertising "/chatter" (std_msgs/msg/String) on channel 4
Client 172.17.0.1:50466 is no longer advertising /chatter (0 subscribers) on channel 4

[WS] 172.17.0.1:50466: Failed to create publisher: could not create publisher: create_publisher() failed setting topic QoS, at ./src/publisher.cpp:226, at ./src/rcl/publisher.c:116

Client 172.17.0.1:50466 is advertising "/chatter" (std_msgs/msg/String) on channel 6
Client 172.17.0.1:50466 is no longer advertising /chatter (0 subscribers) on channel 6
Client 172.17.0.1:50466 is advertising "/chatter" (std_msgs/msg/String) on channel 7

@achim-k achim-k reopened this Jun 15, 2023
achim-k added a commit that referenced this issue Jun 15, 2023
@achim-k
Fix QoS history being unknown when copied from existing publisher
9d83ae3 
When the QoS profile is copied from another existing publisher, it can happen that the history policy is `Unknown`, leading to an error when subsequently trying to create a publisher with that QoS profile. As a fix, we explicitly set the history policy to the system default.

Fixes #200
@achim-k achim-k mentioned this issue Jun 15, 2023
Merged
achim-k added a commit that referenced this issue Jun 16, 2023
@achim-k
Fix QoS history being unknown when copied from existing publisher (#233)
ffb6c63 
### Public-Facing Changes
Fix QoS history being unknown when copied from existing publisher

### Description
When the QoS profile is copied from another existing publisher, it can
happen that the history policy is `Unknown`, leading to an error when
subsequently trying to create a publisher with that QoS profile. As a
fix, we explicitly set the history policy to the system default.

Fixes #200
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
bug Something isn't working
Milestone
No milestone
Development

Successfully merging a pull request may close this issue.

Fix QoS history being unknown when copied from existing publisher foxglove/ros-foxglove-bridge
4 participants
@defunctzombie @jayv @sgf201 @achim-k