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asked 2018-07-25 09:03:37 -0500

aks gravatar image

updated 2018-07-26 02:40:24 -0500

I have a RTI CONNEXT installation on my machine. Now whenever I run a node in ROS2, e.g., I always get a runtime error : [RTPS_HISTORY Error] Change payload size of 'n'>5000 bytes is larger than the history payload size of '5000' bytes and cannot be resized. ->function add_change

I have already consulted this documentation but could not get the solution for it.

Any ideas ?

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answered 2018-07-25 11:54:15 -0500

sloretz gravatar image

This can happen when using Fast-RTPS and Connext with a message in a particular size range. Long term rmw_fastrtps_cpp should be updated to use this enhancement . In the short term there are a couple options

  1. Use rmw_connext_cpp for the ROS2 rmw implementation by setting the environment variable RMW_IMPLEMENTATION, or
  2. Configure Connext to not send type matching messages larger than 5000 bytes. rmw_connext_cpp disables TypeCode to avoid this (see this issue ).
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for the moment, i used the first option i.e. settting the RMW_IMPLEMENTATION = rmw_connext_cpp and it worked. Thankyou

aks gravatar imageaks ( 2018-07-26 02:51:16 -0500 )edit

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Asked: 2018-07-25 09:03:37 -0500

Seen: 56 times

Last updated: Jul 26 '18