ros2 node list hangs when a node is on another machine on Windows and ROS_DOMAIN_ID is used

[sloretz]

Bug report

Required Info:

• Operating System:
  • Windows 10
• Installation type:
  • binaries
• Version or commit hash:
  • https://ci.ros2.org/view/packaging/job/packaging_windows/2478/
• DDS implementation:
  • default
• Client library (if applicable):
  • N/A

Steps to reproduce issue

On a linux laptop (not sure OS is important), set a ROS_DOMAIN_ID and start turtlesim_node

export ROS_DOMAIN_ID=42
ros2 run turtlesim turtlesim_node

On a Windows machine using the Binary archive, try to list the node

set ROS_DOMAIN_ID=42
ros2 node list

Expected behavior

The windows machine would list the turtlesim node.

Actual behavior

The ros2 node list command hangs forever, and does not respond to CTRL + C.

Additional information

I'm using a Windows VM on Virtual Box on Ubuntu Focal with bridged networking (machine A). The other machine (machine B) is an Ubuntu Bionic running ROS 2 nightly in a Jammy Apptainer container. I'm able to ping the other machine from the windows VM.

Running a Jammy Apptainer container on A, ros2 node list works as expected. It's only the Windows machine that can't list the node.

I could try a Humble workspace on machine B, but it's probably still similar enough.

ros2 node list returns immediately on the Windows VM when no ROS_DOMAIN_ID is set.

[sloretz]

ros2 topic list, ros2 service list, and ros2 param list all hang in this scenario as well.

[danzimmerman]

It's only the Windows machine that can't list the node.

Can confirm I'm having this problem at least on some machines, but not all.

Is there any fix/workaround/suggestions for further debugging that would be useful?

All of my machines are using Robostack conda environments.

The broken one is using ros2cli 0.18.3:

(humble) c:\Code\dbgdump>mamba list | findstr ros2cli
ros-humble-ros2cli        0.18.3           py39h4c0ac80_0    robostack-humble
ros-humble-ros2cli-common-extensions 0.1.1            py39he8739fe_0    robostack-humble

mamba_exact_broken_win11.yaml.txt

The full package plan is attached.

Machine Details

Edition	Windows 11 Home
Version	22H2
Installed on	‎5/‎12/‎2022
OS build	22622.598
Experience	Windows Feature Experience Pack 1000.22634.1000.0

DDS is rmw_fastrtps_cpp

[danzimmerman]

The working one is also 0.18.3

The Linux machine with all the running nodes listed in the details below is an Ubuntu Focal machine also running Humble via Robostack.

(humble) c:\code>mamba list | findstr ros2cli
ros-humble-ros2cli        0.18.3           py39h4c0ac80_0    robostack-humble
ros-humble-ros2cli-common-extensions 0.1.1            py39he8739fe_0    robostack-humble

Package list attached.

mamba_exact_working_win11.yaml.txt

Results ros2 topic list

(humble) c:\code>ros2 topic list
/attached_collision_object
/collision_object
/display_contacts
/display_cost_sources
/display_planned_path
/dynamic_joint_states
/force_torque_sensor_broadcaster/transition_event
/force_torque_sensor_broadcaster/wrench
/forward_position_controller/commands
/forward_position_controller/transition_event
/io_and_status_controller/io_states
/io_and_status_controller/robot_mode
/io_and_status_controller/robot_program_running
/io_and_status_controller/safety_mode
/io_and_status_controller/tool_data
/io_and_status_controller/transition_event
/joint_state_broadcaster/transition_event
/joint_states
/monitored_planning_scene
/motion_plan_request
/parameter_events
/planning_scene
/planning_scene_world
/robot_description
/robot_description_semantic
/rosout
/scaled_joint_trajectory_controller/joint_trajectory
/scaled_joint_trajectory_controller/state
/scaled_joint_trajectory_controller/transition_event
/servo_node/collision_velocity_scale
/servo_node/condition
/servo_node/delta_joint_cmds
/servo_node/delta_twist_cmds
/servo_node/publish_planning_scene
/servo_node/status
/servo_node/worst_case_stop_time
/speed_scaling_state_broadcaster/speed_scaling
/speed_scaling_state_broadcaster/transition_event
/tf
/tf_static
/trajectory_execution_event

(humble) c:\code>set | findstr ROS
ROS_DISTRO=humble
ROS_DOMAIN_ID=17
ROS_ETC_DIR=C:\Users\<username>\mambaforge\envs\humble\Library\etc\ros
ROS_LOCALHOST_ONLY=0
ROS_OS_OVERRIDE=conda:win64
ROS_PYTHON_VERSION=3
ROS_VERSION=2

Machine Details

Edition	Windows 11 Home
Version	21H2
Installed on	‎11/‎13/‎2021
OS build	22000.856
Experience	Windows Feature Experience Pack 1000.22000.856.0

DDS is rmw_fastrtps_cpp

[cmastalli]

Can confirm I'm having this problem at least on some machines, but not all.

I confirm this issue in my MacBook Pro M2 machine. I am also using Robostack. Are there any updates regarding this issue?

[130s]

I know this ticket is for external-host scenario though, on the same single host scenario I just saw a similar issue. Easily reproducible with a Docker image (see "Steps to reproduce" section in moveit/moveit2_tutorials#713) then run ros2 param list.