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DEFAULT_FASTRTPS_PROFILES Parsing Error

asked 2021-02-19 19:52:42 -0500

scott.nortman@gmail.com gravatar image

Hi

I am running ROS2 on a rpi with Ubuntu 20.04. I am trying to communicate with another ROS2 device, WSL2 / Ubuntu 20.04 on a Win10 machine. I can ping back and forth; they are on the same subnet.

However when I run the ROS2 talker/listener on either machine, the other machine can not communicate. I tried setting up an XML profile, DEFAULT_FASTRTPS_PROFILES.xml and set up an appropriate environment variable, FASTRTPS_DEFAULT_PROFILES_FILE. Here is the file:

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
    <participant profile_name="participant_rpi" is_default_profile="true">
        <rtps>
            <builtin>
                <domainId>0</domainId>
                 <initialPeersList>
                     <locator>
                         <kind>UDPv4</kind>
                         <address>192.168.86.25</address>
                     </locator>
                 </initialPeersList>
             </builtin>
         </rtps>
     </participant>
</profiles>

When I start the node, I am getting the following errors:

ubuntu@ubuntu:~/ros2_ws$ ros2 run demo_nodes_cpp listener
2021-02-20 01:30:00.495 [XMLPARSER Error] Invalid element found into 'builtinAttributesType'. Name: domainId -> Function getXMLBuiltinAttributes
2021-02-20 01:30:00.495 [XMLPARSER Error] Error parsing participant profile -> Function parseXMLParticipantProf
2021-02-20 01:30:00.495 [XMLPARSER Error] Error parsing profile's tag participant -> Function parseProfiles
2021-02-20 01:30:00.496 [XMLPARSER Error] Error parsing '/home/ubuntu/ros2_ws/DEFAULT_FASTRTPS_PROFILES.xml' -> Function loadXMLFile
2021-02-20 01:30:00.496 [XMLPARSER Error] Invalid element found into 'builtinAttributesType'. Name: domainId -> Function getXMLBuiltinAttributes
2021-02-20 01:30:00.496 [XMLPARSER Error] Error parsing participant profile -> Function parseXMLParticipantProf
2021-02-20 01:30:00.496 [XMLPARSER Error] Error parsing profile's tag participant -> Function parseProfiles

Any thoughts as to why the file can not be parsed correctly?

Thanks in advance...

Scott

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Comments

Yep, same here. It's just that ardiuno foxy isn't stable atm. I'm still debugging for almost 3 days now. Literally same issue as this even with examples from ardiuno.

kak13 gravatar image kak13  ( 2021-04-13 05:44:33 -0500 )edit
1

Maybe not the most useful answer but I realized that by using Cycle DDS the error goes away.

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
Navid Nourani gravatar image Navid Nourani  ( 2021-08-02 07:37:44 -0500 )edit

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answered 2021-08-12 08:31:54 -0500

Hi,

In foxy, you don't need the domainId parameter defined. Comment or delete that part of the xml configuration file and it should be good.

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Asked: 2021-02-19 19:52:42 -0500

Seen: 326 times

Last updated: Feb 19 '21