0
$\begingroup$

This is my first time setting up a micro-ROS and a ROS 2 dev environment, so I suspect there may be something obvious that I'm missing.

I'm attempting to run the Zephyr host emulator example in the micro-ROS tutorial here with ROS2 humble.

Effectively, I've installed micro_ros_setup, created/configured/built the firmware and installed micro_ros_agent. Then, when I run the zephyr app I see the error listed in the title, and I don't see any change in the output of the micro-ROS agent.

What I think I'm encountering is that the Zephyr app is unable to reach the micro-ROS agent, thus the "Failed status" error message.

From a third terminal I can see the port with netstat, so I don't believe this is a firewall issue since the host emulator and micro-ros agent are both running on the same machine.

$ sudo netstat -tulpn | grep 8888
udp        0      0 0.0.0.0:8888            0.0.0.0:*                           78240/micro_ros_age

Inspecting the source code at firmware/zephyr_apps/apps/ping_pong/src/main.c, line 98, it appears as though rclc_support_init() is failing.

    // create init_options
    RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

Additionally, should I see a node running and new topics listed when I run the micro-ROS agent? I'm seeing neither and I wonder if that's the reason:

$ ros2 topic list
/parameter_events
/rosout

$ ros2 node list

Zephyr Tutorial

Below is a summary of Zephyr micro-ROS tutorial to show where I'm at and how I got here.

Start with micro_ros_setup

source /opt/ros/humble/setup.bash

# install micro_ros_setup in new workspace
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

# rosdep & pip
sudo apt update && rosdep update
rosdep install --from-paths src --ignore-src -y
sudo apt-get install python3-pip

# build micro_ros_setup and source it
colcon build
source install/local_setup.bash

Then the firmware workspace

# create fw ws
ros2 run micro_ros_setup create_firmware_ws.sh zephyr host

# configure build 
ros2 run micro_ros_setup configure_firmware.sh ping_pong --transport udp --ip 127.0.0.1 --port 8888

# build it
ros2 run micro_ros_setup build_firmware.sh

Next, the micro-ROS agent

# create agent ws
ros2 run micro_ros_setup create_agent_ws.sh

# build it
ros2 run micro_ros_setup build_agent.sh

source install/local_setup.bash

Then I setup 2 terminals, terminal 1 running the micro-ROS agent and terminal 2 running the Zephyr app.

Terminal 1:

$ source /opt/ros/humble/setup.bash
$ source install/local_setup.bash
$ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
[1704166624.989047] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1704166624.989864] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4

Terminal 2

$ source /opt/ros/humble/setup.bash
$ source install/local_setup.bash
$ ros2 run micro_ros_setup flash_firmware.sh
Flashing firmware for zephyr platform host
WARNING: Using a test - not safe - entropy source
*** Booting Zephyr OS build zephyr-v2.6.0  ***
Failed status on line 98: 1. Aborting.
Improve this question
$\endgroup$

1 Answer 1

Reset to default
1
$\begingroup$

There's nothing better than spending time to summarize and articulate your question/problem and stumbling upon the solution shortly after.

It turns out that the firmware configure step has a critical message:

$ ros2 run micro_ros_setup configure_firmware.sh ping_pong --transport udp --ip 127.0.0.1 --port 8888
Configuring firmware for zephyr platform host
Configured UDP mode.
Please check firmware/zephyr_apps/microros_extensions/microros_transports.h
for configuring IP and port before build.

In firmware/zephyr_apps/microros_extensions/microros_transports.h, buried in preprocessor #if/#elif directives there's a set of default transport parameters, one of which specifies the IP address of the micro-ros agent, which in my case was the incorrect one 192.168.1.100.

#if defined(MICRO_ROS_TRANSPORT_SERIAL)
    #define MICRO_ROS_FRAMING_REQUIRED true
    // Set the UART used for communication. e.g. {.fd = 0} leads to UART_0 being used.
    static zephyr_transport_params_t default_params = {.fd = 0};
#elif defined(MICRO_ROS_TRANSPORT_UDP)
    #define MICRO_ROS_FRAMING_REQUIRED false
    static zephyr_transport_params_t default_params = {{0,0,0}, "192.168.1.100", "8888"};
#elif defined(MICRO_ROS_TRANSPORT_SERIALUSB)
    #define MICRO_ROS_FRAMING_REQUIRED true
    static zephyr_transport_params_t default_params;
#endif

Changing that to 127.0.0.1 before building fixed my issue:

    static zephyr_transport_params_t default_params = {{0,0,0}, "127.0.0.1", "8888"};

Proceeding to build and run the firmware shows working output!

# build
$ ros2 run micro_ros_setup build_firmware.sh

# run
$ ros2 run micro_ros_setup flash_firmware.sh
Flashing firmware for zephyr platform host
WARNING: Using a test - not safe - entropy source
*** Booting Zephyr OS build zephyr-v2.6.0  ***
Ping send seq 1734063590_1823552900
Ping send seq 2118534989_1823552900
Ping send seq 1332252450_1823552900
...

In addition, micro_ros_agent outputs:

 ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
[1704199501.102410] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1704199501.102956] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1704199502.843766] info     | Root.cpp           | create_client            | create                 | client_key: 0x176AC30B, session_id: 0x81
[1704199502.843832] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x176AC30B, address: 127.0.0.1:13752
[1704199502.855327] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x176AC30B, participant_id: 0x000(1)
[1704199502.855720] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x176AC30B, topic_id: 0x000(2), participant_id: 0x000(1)
[1704199502.856105] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x176AC30B, publisher_id: 0x000(3), participant_id: 0x000(1)
[1704199502.856837] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x176AC30B, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1704199502.857028] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x176AC30B, topic_id: 0x001(2), participant_id: 0x000(1)
[1704199502.857303] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x176AC30B, publisher_id: 0x001(3), participant_id: 0x000(1)
[1704199502.857844] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x176AC30B, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1704199502.858045] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x176AC30B, topic_id: 0x002(2), participant_id: 0x000(1)
[1704199502.858254] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x176AC30B, subscriber_id: 0x000(4), participant_id: 0x000(1)
[1704199502.859027] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x176AC30B, datareader_id: 0x000(6), subscriber_id: 0x000(4)
[1704199502.859370] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x176AC30B, topic_id: 0x003(2), participant_id: 0x000(1)
[1704199502.859639] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x176AC30B, subscriber_id: 0x001(4), participant_id: 0x000(1)
[1704199502.865308] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x176AC30B, datareader_id: 0x001(6), subscriber_id: 0x001(4)

And a ros2 node is listed:

$ ros2 node list
/pingpong_node

Along with 2 new topics

$ ros2 topic list
/microROS/ping
/microROS/pong
/parameter_events
/rosout
Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.