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