No statistics data and missing physical entities when using ROS 2 humble node

[Chandan-kumar-R]

I'm experiencing an issue when using the DDS Monitor with a ROS 2 humble node. When I run the HelloWorldExample LINK from the DDS Suites, I can see all the statistics data and the physical entities in the DDS Monitor. However, when I use a ROS 2 humble node, LINK although I can see my publisher and subscriber on the DDS entities, there is no information displayed in the physical entities section, and the statistics data is missing.

Output of DDS HelloWorldExample:

Steps to Reproduce:

• Run the HelloWorldExample from the DDS Suites.
• Launch the DDS Monitor and observe the physical entities and statistics data.
• Run a ROS 2 humble node that publishes and subscribes to a topic.
• Launch the DDS Monitor and notice that the physical entities section is empty, and there are no statistics data displayed.

Expected Behavior:
When using the DDS Monitor with a ROS 2 humble node, I expect to see the publisher and subscriber information in the physical entities section, as well as the statistics data for the node.

Actual Behavior:
The physical entities section is empty, and there are no statistics data displayed when using the DDS Monitor with a ROS 2 humble node.
Output of ros2 humble node:

Additional Information:

• I have verified that the ROS 2 humble node is functioning correctly, as I can see the expected output in the console.

• I have tried different versions of DDS Monitor, but the issue persists.

• I have also build the workspace with --cmake-args -DFASTDDS_STATISTICS=ON and exported all the environment variable.

Environment:

ROS 2 version: Humble
DDS Monitor version: 1.3.0
Operating System: Ubuntu 22.04.2 LTS

[jparisu]

Hi @Chandan-kumar-R

Compile with STATISTICS=ON

My first guess here is that your fastrtps version is not compiled with CMake option -DFASTDDS_STATISTICS=ON.
Default ROS2 Humble does not compile with statistics, so no statistical data will be published.

Be aware that CMake option -DFASTDDS_STATISTICS=ON must be set to fastrtps compilation, not to fastdds_monitor compilation. So the ROS2 source code must be rebuilt in order to do so.

Check our ROS2 distribution that has the statistics available by default, and have some new features and applications that are not available in ROS2: https://docs.vulcanexus.org/en/latest/rst/tutorials/tools/fastdds_monitor/fastdds_monitor.html

Memory restriction

There is another known issue related with such scenario. Check this documentation in case the previous advice does not work: https://fast-dds.docs.eprosima.com/en/latest/fastdds/statistics/dds_layer/troubleshooting.html#monitoring-application-is-not-receiving-any-statistic-data