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rcl_publish() in subscriber callback issue [micro-ROS]

asked 2021-01-23 07:55:39 -0600

mrDooDude
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Hi there!

More about the issue: Using rcl_publish() in subscriber callback causes microcontroller freezing. Even external interrupts doesn't work after it freezes. But if there's no rcl_publish() in subscription callback - it works good as it should.

About MCU: stm32 f767zi Nucleo-144 + FreeRTOS.
My desktop software: Ubuntu 20.04 Focal, ROS 2 Foxy.

I made some changes in 'flash.sh' script to be able to flash my MCU.

Named issue was first met when i tried to run ping_pong app (which is mentioned in this tutorial). I receive only first ping - rcl_publish() works well in timer callbacks, must say. But that's it.

Where should i look to explore and solve the problem?
Could be the proper configuring of QoS a solution?

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answered 2021-01-25 00:16:06 -0600

Pablogs
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Could you please open a Github issue in the micro_ros_setup repo and detail step by step your procedure so we can replicate it?

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Thank you for reply! I've just found, that the trouble was not with rcl_publish()... i will open an issue

mrDooDude ( 2021-01-25 13:28:49 -0600 )edit

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Asked: 2021-01-23 07:55:39 -0600

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Last updated: Jan 25 '21

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rcl_publish() in subscriber callback issue [micro-ROS]