ROS2 system debug techniques

asked 2019-06-20 03:18:36 -0600

Hi,

I'm trying to connect an IMX6 module with ROS2 with a linux PC. The communication using ROS2 somehow does not work, but I am also unable to figure out what the root cause is. What are the right places to start looking? Which logfiles could I inspect, or what settings can I change such that the debugging output is increased?

Is there a way to get more information from the fastrtps library?

I checked this page (https://index.ros.org/doc/ros2/Troubl...) but it does not contain hints about where to get more detailed logging.

Regards, Windel

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Comments

I would suggest to look for information on how to diagnose DDS communication issues. I've seen quite a few issues and questions about that layer of the stack.

That would be independent of the ROS 2 integration.

RTI has the DDS Spy fi that you could use for this.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-20 03:55:27 -0600 )edit

Thank you for this tip! Is this a free utility, or is it commercial software?

Windel gravatar imageWindel ( 2019-06-20 04:28:18 -0600 )edit

I'm not sure whether it's part of the free/community distribution. You'd have to check.

Note thought that if you have ros2 topic list etc working (as you mention in #q301862) then I'm guessing that basic communication does work, so it may not be a (pure) DDS issue any more.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-20 04:38:14 -0600 )edit

I'm assuming now that it is a ros2 version incompatibility. On my windows PC I have ROS2 dashing. On my imx6 board I have the version as in the bmwcarit meta-ros layer, which is pretty outdated. I am able to see the nodes with ros node list, but ros topic list does not give any results.

Windel gravatar imageWindel ( 2019-06-20 05:00:19 -0600 )edit

Ah, ok.

Yes, that would probably be a problem.

It would be good to mention these kinds of details in your initial posting.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-20 05:03:13 -0600 )edit