ros2 dashing FastRTPS comms failing between two computers

asked 2019-07-31 14:34:22 -0500

johnconn gravatar image

updated 2019-07-31 15:32:58 -0500

I have three computers on my network. One computer is publishing, and the other two are subscribing.

One of my two subscribers is not seeing the messages being published.

I am using Fast RTPS for communication.

I think I found a clue as to what's wrong while using wireshark. I took a look at what was happening on my network, and the faulty computer is giving me a ton of messages like this one:

Source Destination Protocol Length Info RTPS 110 INFO_DST, ACKNACK is my subscriber, is my publisher

I am ping-testing from my publisher to my faulty subscriber, and I'm getting ~700kB/s, so I'm skeptical that this is from a poor connection between the two.

I also get plenty of INFO_DST, ACKNACK between my publisher and working subscriber, so this might not be related to root cause

My faulty subscriber does not notice any publishers when I run:

ros2 topic info /topic

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Have you set ROS_DOMAIN_ID?

allenh1 gravatar imageallenh1 ( 2019-07-31 16:32:03 -0500 )edit

I originally had it unset when filing this ticket.

using opensplice as my DDS implementation was working better for me (all pubs and subs noticed eachother) but once I switched to opensplice rviz started failing

johnconn gravatar imagejohnconn ( 2019-07-31 19:00:20 -0500 )edit