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Communication Failure Depending on Startup Order When Running mros2-posix and mros2-host-example on a Single #11

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MrBearing opened this issue Sep 27, 2024 · 0 comments
Open

Communication Failure Depending on Startup Order When Running mros2-posix and mros2-host-example on a Single #11

MrBearing opened this issue Sep 27, 2024 · 0 comments
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@MrBearing
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MrBearing commented Sep 27, 2024 •
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PC一つのPC上でmros2-posixとmros2-host-exampleを動作させると起動順序によって通信できない場合がある

2つの端末A,Bを用意し、それぞれ以下のビルドした。

[端末A]

source /opt/ros/humble/setup.bash
cd ws_ros
git clone https://github.com/mROS-base/mros2-host-examples
cd mros2-host-examples
colcon build --packages-select mros2_echoreply_string
source install/setup.bash

[端末B]

git clone --recursive https://github.com/mROS-base/mros2-posix.git
cd mros2-posix/
bash build.bash clean
bash build.bash all echoback_string

ビルド完了後、端末A実行後に端末Bで下記のコマンド実行したところ端末Bに以下の様なログが表示された。

[端末A プログラム実行コマンド]

ros2 run mros2_echoreply_string echoreply_node

[端末B プログラム実行コマンド]

./cmake_build/mros2-posix

[端末B 実行時ログ]

ipaddr=0xef20a8c0
mask=0x00feffff
LOG_NOTICE : 00000000.000 : osKernelStart
LOG_NOTICE : 00000000.000 : mros2-posix start!

LOG_NOTICE : 00000000.000 : app name: echoback_string

LOG_DEBUG : 00000000.000 : mROS 2 initialization is completed

LOG_DEBUG : 00000000.000 : [MROS2LIB] create_node
LOG_DEBUG : 00000000.000 : [MROS2LIB] start creating participant
LOG_DEBUG : 00000000.000 : [MROS2LIB] mros2_init task start
LOG_DEBUG : 00000000.000 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_init() 28: enter
LOG_DEBUG : 00000000.000 : [MROS2LIB] Initilizing lwIP complete
LOG_DEBUG : 00000000.000 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 306: enter
LOG_DEBUG : 00000000.000 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 24: enter
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 42: mcp=0x79f648000db0 exit
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 326: exit
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 141: ipaddr=0x0 port=7401 enter
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 154: mcp exist 0x79f648000db0
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 224: exit
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_recv() 239: enter
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_recv() 250: exit
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 306: enter
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 24: enter
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 42: mcp=0x79f648000dd0 exit
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 326: exit
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 141: ipaddr=0x0 port=7400 enter
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 154: mcp exist 0x79f648000dd0
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 224: exit
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_recv() 239: enter
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_recv() 250: exit
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_joingroup() 78: enter ifaddr=0xef20a8c0 groupaddr=0x100ffef
LOG_NOTICE : 00000000.001 : thread_udp_recv:UP: mcp=0x79f648000db0
LOG_NOTICE : 00000000.001 : udp_mc_joingroup(): mcp=0x79f648000db0 ifaddr=0xef20a8c0 groupaddr=0x100ffef
LOG_NOTICE : 00000000.001 : udp_mc_joingroup(): mcp=0x79f648000dd0 ifaddr=0xef20a8c0 groupaddr=0x100ffef
LOG_DEBUG : 00000000.001 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_joingroup() 93: exit
LOG_NOTICE : 00000000.001 : thread_udp_recv:UP: mcp=0x79f648000dd0
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 306: enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 24: enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 42: mcp=0x79f648000df0 exit
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 326: exit
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 141: ipaddr=0x0 port=7411 enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 154: mcp exist 0x79f648000df0
LOG_ERROR : 00000000.101 : udp_bind() bind() err=98
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 267: enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 52: enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 62: exit
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 287: exit
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 306: enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 24: enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 42: mcp=0x79f648000df0 exit
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 326: exit
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 141: ipaddr=0x0 port=7410 enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 154: mcp exist 0x79f648000df0
LOG_ERROR : 00000000.101 : udp_bind() bind() err=98
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 267: enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 52: enter
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 62: exit
LOG_DEBUG : 00000000.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 287: exit
LOG_DEBUG : 00000000.101 : [MROS2LIB] successfully created participant
LOG_DEBUG : 00000000.101 : [MROS2LIB] create_publisher complete.
LOG_DEBUG : 00000000.201 : [MROS2LIB] Initilizing Domain complete
LOG_DEBUG : 00000001.102 : [MROS2LIB] create_subscription complete.
LOG_NOTICE : 00000001.102 : ready to pub/sub message

LOG_NOTICE : 00000001.102 : publishing msg: 'TestMessage0'
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 306: enter
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 24: enter
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 42: mcp=0x79f648000df0 exit
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 326: exit
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 141: ipaddr=0x0 port=7410 enter
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 154: mcp exist 0x79f648000df0
LOG_ERROR : 00000001.102 : udp_bind() bind() err=98
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 267: enter
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 52: enter
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 62: exit
LOG_DEBUG : 00000001.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 287: exit
LOG_NOTICE : 00000002.102 : publishing msg: 'TestMessage1'
LOG_NOTICE : 00000003.102 : publishing msg: 'TestMessage2'
LOG_DEBUG : 00000004.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 306: enter
LOG_DEBUG : 00000004.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 24: enter
LOG_DEBUG : 00000004.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 42: mcp=0x79f648000df0 exit
LOG_DEBUG : 00000004.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 326: exit
LOG_DEBUG : 00000004.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 141: ipaddr=0x0 port=7410 enter
LOG_DEBUG : 00000004.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 154: mcp exist 0x79f648000df0
LOG_ERROR : 00000004.101 : udp_bind() bind() err=98
LOG_DEBUG : 00000004.101 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 267: enter
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 52: enter
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 62: exit
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 287: exit
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 306: enter
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 24: enter
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_alloc() 42: mcp=0x79f648000df0 exit
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_new() 326: exit
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 141: ipaddr=0x0 port=7410 enter
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_bind() 154: mcp exist 0x79f648000df0
LOG_ERROR : 00000004.102 : udp_bind() bind() err=98
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 267: enter
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 52: enter
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp_multicast_manager.c udp_mc_info_free() 62: exit
LOG_DEBUG : 00000004.102 : /home/takumi/mros2-posix/lwip-posix/src/core/udp.c udp_remove() 287: exit

(後略)

端末B実行コマンド後に端末A実行コマンドを動作させると、以下のような出力が得られ、テストプログラムが正常に終了する

(前略)
LOG_NOTICE : 00000001.101 : publishing msg: 'TestMessage0'
LOG_NOTICE : 00000002.101 : publishing msg: 'TestMessage1'
LOG_NOTICE : 00000003.101 : publishing msg: 'TestMessage2'
LOG_DEBUG : 00000003.394 : [MROS2LIB] subscriber matched with remote publisher
LOG_DEBUG : 00000003.394 : [MROS2LIB] publisher matched with remote subscriber
LOG_NOTICE : 00000004.101 : publishing msg: 'TestMessage3'
*test count : 1
LOG_DEBUG : 00000004.102 : Sub result:
 expect : 'TestMessage3',
 actural: 'TestMessage3'
LOG_DEBUG : 00000004.102 : expect length: 12, actual length: 13
LOG_NOTICE : 00000004.102 : ****SUCCEED****
LOG_NOTICE : 00000005.101 : publishing msg: 'TestMessage4'
*test count : 2
LOG_DEBUG : 00000005.102 : Sub result:
 expect : 'TestMessage4',
 actural: 'TestMessage4'
LOG_DEBUG : 00000005.102 : expect length: 12, actual length: 13
LOG_NOTICE : 00000005.102 : ****SUCCEED****
LOG_NOTICE : 00000006.101 : publishing msg: 'TestMessage5'
*test count : 3
LOG_DEBUG : 00000006.102 : Sub result:
 expect : 'TestMessage5',
 actural: 'TestMessage5'
LOG_DEBUG : 00000006.102 : expect length: 12, actual length: 13
LOG_NOTICE : 00000006.102 : ****SUCCEED****
LOG_NOTICE : 00000007.101 : publishing msg: 'TestMessage6'
*test count : 4
LOG_DEBUG : 00000007.102 : Sub result:
 expect : 'TestMessage6',
 actural: 'TestMessage6'
LOG_DEBUG : 00000007.102 : expect length: 12, actual length: 13
LOG_NOTICE : 00000007.102 : ****SUCCEED****
LOG_NOTICE : 00000008.101 : publishing msg: 'TestMessage7'

CIでの失敗例
@MrBearing MrBearing changed the title 一つのPC上でIP 一つのPC上でmros2-posixとmros2-host-exampleを動作させると起動順序によって通信できない Sep 27, 2024
@MrBearing MrBearing changed the title 一つのPC上でmros2-posixとmros2-host-exampleを動作させると起動順序によって通信できない 一つのPC上でmros2-posixとmros2-host-exampleを動作させると起動順序によって通信できない事がある Sep 27, 2024
@MrBearing MrBearing added the bug Something isn't working label Sep 27, 2024
@MrBearing MrBearing changed the title 一つのPC上でmros2-posixとmros2-host-exampleを動作させると起動順序によって通信できない事がある "Communication Failure Depending on Startup Order When Running mros2-posix and mros2-host-example on a Single Sep 28, 2024
@MrBearing MrBearing changed the title "Communication Failure Depending on Startup Order When Running mros2-posix and mros2-host-example on a Single Communication Failure Depending on Startup Order When Running mros2-posix and mros2-host-example on a Single Sep 28, 2024
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