Jefecito's profile - activity

Yeah, thanks. But I saw that it could be a problem for Galactic. What kind of API incompatibility could happen?

Yeah, thanks. But I saw that could be a problem for Galactic. What kind of API incompatibility could happen?

Hello guys,

I just dealt with these two functions while I was learning how to implement a Parameter Server with Micro-ROS and ROS2 Galactic. I confess it bugged my mind, so we are talking about the same parameter value transported within a Parameter Server. Exploring the library I noticed that both functions are based on the Parameter struct, an heiress from rcl_interfaces__msg__Parameter, that has an integer_value member of int64_t type. Why don't use int64_t for the get and set functions?

Please, don't take it as criticism. I just wanna understand the reasons for this decision.

Cheers.

Why ROS2 rclc_parameter_set_int() has value parameter as int64_t while rclc_parameter_get_int() has the same parameter

Hello,

I am building a launcher for a Micro-ROS application running Zephyr RTOS on STM32. I stumbled upon a situation that happens when the agent is started by the second time after being interrupted by a ctrl+c or by a $ killall micro_ros_agent. It freezes in the logger setup line, just before the initialization of topics, publishers, subscribers, and services, like this:

$ ros2 run  micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 
[1639862248.302385] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1639862248.302663] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4

It only resumes if the microcontroller reset button is pressed:

[1639862662.431163] info     | TermiosAgentLinux.cpp | fini                     | server stopped         | fd: 3
[1639862662.443154] info     | TermiosAgentLinux.cpp | init                     | Serial port not found. | device: /dev/ttyACM0, error 2, waiting for connection...
[1639862663.140021] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1639862664.207718] info     | Root.cpp           | create_client            | create                 | client_key: 0x59B06063, session_id: 0x81
[1639862664.208181] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x59B06063, address: 0
[1639862664.254578] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x59B06063, participant_id: 0x000(1)
[1639862664.257543] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x59B06063, requester_id: 0x000(7), participant_id: 0x000(1)
[1639862664.260180] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x59B06063, requester_id: 0x001(7), participant_id: 0x000(1)
[1639862664.262102] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x59B06063, topic_id: 0x000(2), participant_id: 0x000(1)
[1639862664.263761] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x59B06063, publisher_id: 0x000(3), participant_id: 0x000(1)
[1639862664.265743] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x59B06063, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1639862664.271523] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x59B06063, topic_id: 0x001(2), participant_id: 0x000(1)
[1639862664.273199] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x59B06063, publisher_id: 0x001(3), participant_id: 0x000(1)
[1639862664.275206] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x59B06063, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1639862664.280842] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x59B06063, topic_id: 0x002(2), participant_id: 0x000(1)
[1639862664.286361] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x59B06063, publisher_id: 0x002(3), participant_id: 0x000(1)
[1639862664.288642] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x59B06063, datawriter_id: 0x002(5), publisher_id: 0x002(3)

The necessity of resetting the board every time I need to restart the agent is too inconvenient since the board is inside the robot. Is there a way to prevent it or a way to reset the microcontroller automatically after an agent interruption?

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