ROS2 listener stops working after some time [closed]

asked 2019-06-10 03:00:12 -0500

Vaan5 gravatar image

I have a modified listener/talker example, where I send around a double value.

listener_node.cpp

#include <memory>

#include "rclcpp/rclcpp.hpp"

#include "demo/listener.hpp"

int main(int argc, char ** argv)
{
    setvbuf(stdout, nullptr, _IONBF, BUFSIZ);

    printf("Initialize communications\n");
    rclcpp::init(argc, argv);
    printf("Initialize communications - done\n");

    printf("Create node\n");
    auto node = std::make_shared<demo::Listener>();
    printf("Create node - done\n");

    printf("Spin\n");
    rclcpp::spin(node);
    printf("Spin - done\n");

    printf("Shutdown\n");
    rclcpp::shutdown();
    printf("Shutdown - done\n");

    return 0;
}

listener.cpp

#include "demo/listener.hpp"

#include <functional>

namespace demo {
Listener::Listener() : Node("listener") {
    this->sub_ = this->create_subscription<std_msgs::msg::Float64>("comm_topic", 1000, std::bind(&Listener::callback, this, std::placeholders::_1));
}

void Listener::callback(std_msgs::msg::Float64::SharedPtr msg) {
    RCLCPP_INFO(this->get_logger(), "Received %f", msg->data);
}

Listener::~Listener() {

}
}

listener.hpp

#ifndef DEMO__LISTENER_HPP_
#define DEMO__LISTENER_HPP_

#include "rclcpp/rclcpp.hpp"

#include "std_msgs/msg/float64.hpp"

#include "demo/visibility_control.h"

namespace demo {

    class Listener : public rclcpp::Node {
    public:
        explicit Listener();

        virtual ~Listener();

        void callback(std_msgs::msg::Float64::SharedPtr msg);
    private:
        rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr sub_;
    };

}  // namespace demo

#endif  // DEMO__LISTENER_HPP_

publisher_node.cpp

#include <memory>
#include <thread>
#include <chrono>

#include "rclcpp/rclcpp.hpp"

#include "demo/publisher.hpp"

int main(int argc, char ** argv)
{
    setvbuf(stdout, nullptr, _IONBF, BUFSIZ);

    printf("Initialize communications\n");
    rclcpp::init(argc, argv);
    printf("Initialize communications - done\n");

    printf("Create node\n");
    auto node = std::make_shared<demo::Publisher>();
    printf("Create node - done\n");

    printf("Sleeping\n");
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    printf("Sleeping - done\n");

    printf("Start\n");
    node->start();
    printf("Start - done\n");

    printf("Spin\n");
    rclcpp::spin(node);
    printf("Spin - done\n");

    printf("Shutdown\n");
    rclcpp::shutdown();
    printf("Shutdown - done\n");

    return 0;
}

publisher.cpp

#include "demo/publisher.hpp"

namespace demo {
Publisher::Publisher() : Node("publisher") {
    this->pub_ = this->create_publisher<std_msgs::msg::Float64>("comm_topic");
}

void Publisher::start() {
    std_msgs::msg::Float64 msg;
    //rclcpp::WallRate loop_rate(10);
    while (true) {
        msg.data = this->counter_;
        RCLCPP_INFO(this->get_logger(), "Publishing %f", this->counter_);
        this->pub_->publish(msg);
        this->counter_ += 0.01;
        //loop_rate.sleep();
    }
}

Publisher::~Publisher() {

}
}

publisher.hpp

#ifndef DEMO__PUBLISHER_HPP_
#define DEMO__PUBLISHER_HPP_

#include "rclcpp/rclcpp.hpp"

#include "std_msgs/msg/float64.hpp"

#include "demo/visibility_control.h"

namespace demo {

    class Publisher : public rclcpp::Node {
    public:
        explicit Publisher();

        virtual ~Publisher();

        void start();
    private:
        rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr pub_;
        rclcpp::TimerBase::SharedPtr timer_;

        double counter_;
    };

}  // namespace demo

#endif  // DEMO__PUBLISHER_HPP_

Expected behavior The listener will receive either all messages or if he can't process them fast enough some will fall out of the queue.

Actual behavior The publisher works as expected - just keeps publishing messages. The listener STOPS after receiving some messages (random amount). The log message from the callback won't be displayed anymore.

Is this a known bug? If I use a smaller frequency (10Hz), the listener seems to work properly. With a higher frequency (1000Hz) or (100Hz) the same problem occurs.

  • Operating System: Windows 10
  • Installation type: binaries
  • Version or commit hash: dashing
  • DDS implementation: Fast-RTPS
  • Client library (if applicable): rclcpp
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Closed for the following reason Question does not follow our guidelines for questions. Please see: http://wiki.ros.org/Support for more details. by Dirk Thomas
close date 2019-06-10 12:25:27.023135

Comments

Cross posting your question in multiple locations (https://github.com/ros2/rclcpp/issues...) is against the etiquette: http://wiki.ros.org/Support#Etiquette

Dirk Thomas gravatar imageDirk Thomas ( 2019-06-10 12:25:21 -0500 )edit