ESP32 micro-ROS: "Failed status on line 87: 1. Aborting."

asked 2021-09-21 10:55:47 -0500

ROS_user
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updated 2021-09-21 10:56:12 -0500

This is my first time using micro-ROS.

I am following this tutorial with the difference that the connection that I am setting up is through UDP rather than Serial.

After having flashed the given ping_pong app into the ESP and checked that it has successfully connected to my wifi, I launch a micro-ROS agent.

However, I cannot see the new /microROS/ping and /microROS/pong topics, so with ros2 run micro_ros_setup build_firmware.sh monitor I realize that the following error occurs:

Failed status on line 87: 1. Aborting.

I tried to search online the possible cause, but didn't find anything solving the problem.

Does anyone have an idea of what is happening?

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I don't know if that "line 87" refers to the file app.c of the ping_pong app. But if that is the case, I leave you here the line it would be referring to.

ROS_user ( 2021-09-21 11:07:08 -0500 )edit

I see someone else had the same problem, and solved changing the IP address in the configuration.

However, if we're talking about the step ros2 run micro_ros_setup configure_firmware.sh ping_pong -t udp -i <IP_ADDRESS> -p 8888 I am already using the IP address of my machine (not the one of the ESP32).

ROS_user ( 2021-09-21 11:18:46 -0500 )edit

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answered 2021-09-24 11:18:29 -0500

ROS_user
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updated 2021-09-24 11:18:57 -0500

[SOLUTION]

The problem was that my firewall blocked the UDP connection between the ESP32 and the micro-ROS agent.

It was sufficient to allow such connection in the firewall rules, and everything went fine.

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answered 2021-09-22 01:28:41 -0500

Pablogs
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It is recommended to use micro-ROS component for ESP32 IDF. There you will be able to configure the parameters and IP adresses.

In general, you should configure in the client the IP address where the agent is. Remember that you also have a run time API for doing so: https://github.com/micro-ROS/rmw-micr...

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Because the error in line 87 (rclc_support_init) is that your client is not reaching the agent. You can run the agent with the flag -v6 and check id there is communication-

Pablogs ( 2021-09-22 01:29:38 -0500 )edit

Running the agent with that flag, I see no communication. Concerning the IP address configuration, isn't it already done when I wrote ros2 run micro_ros_setup configure_firmware.sh ping_pong -t udp -i <IP_ADDRESS> -p 8888?

ROS_user ( 2021-09-22 04:55:15 -0500 )edit

Yes, setting there the agent IP should work because it is configured as an RMW parameter. In any case, currently the IDF component that I mention is more tested than the micro_ros_setup

Pablogs ( 2021-09-22 04:59:48 -0500 )edit

Ok, thanks for the suggestion. Another possible cause I was thinking to is: can it be the ROS_DOMAIN? I mean, since it is a network communication maybe I should set it, but I didn't do it anywhere on the micro-ROS code/configuration (I set it only on the agent when launching it).

ROS_user ( 2021-09-22 05:39:58 -0500 )edit

ROS_DOMAIN can be modified using the API: https://github.com/micro-ROS/micro-RO...

But there is no communication between the client and the agent, the problem is in your network or transport configuration.

Pablogs ( 2021-09-22 07:22:01 -0500 )edit

I've just tried with the micro-ROS component for ESP32 IDF, following the example on the GitHub repo. Same problem as before, I obtain Failed status on line 48: 1. Aborting.. It refers to this line.

ROS_user ( 2021-09-22 17:07:34 -0500 )edit

Could you open an issue in the GitHub repo detailing your procedure, so we can reproduce it?

Pablogs ( 2021-09-23 00:22:52 -0500 )edit

Sure, thank you.

ROS_user ( 2021-09-23 03:37:15 -0500 )edit

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ESP32 micro-ROS: "Failed status on line 87: 1. Aborting."

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ESP32 micro-ROS: "Failed status on line 87: 1. Aborting."