ESP32 crashes when listening_message_reliably #155
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What are the differences between In any case, a corruption like this sounds to me like a stack overflow. Have you tried to increase stack sizes of each task? |
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Here is a quick diagram showing how to program is composed :
Every subs run with the uros_thread executor, their callback functions sends a message to the txQueue. I already tried increasing stacks, but maybe not enough. |
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Ok, please provide feedback. And enable the multithread flag because if not, all the stack layers are not thread safe! |
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When I turn ON the UCLIENT_PROFILE_MULTITHREAD in the CMakeLists.txt of Micro-XRCE-DDS-Client, it doesn't change the build, and when I do a clean build, it reverts back to OFF. Am I missing something ? |
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You need to use the |
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I have added the line |
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Just check that is enabled in the generated |
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Just a moment, my build keeps crashing (doesn't find <rcl/rcl.h> and micro-ros doesn't want to clean) |
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When I set the line in colcon.meta, the build keeps crashing |
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Clean your environment |
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Already done, clean, fullclean, clean-microros, removed the microROS component and resetted it |
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Provide more info about this crash |
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build failed with doesn't find <rcl/rcl.h> |
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the stderr in the uROS build is typically : |
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It is not finding your FreeRTOS headers, let me check |
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Found anything ? |
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Can someone at least guide me? Maybe my config in the colcon.meta wasn't done properly? It would help me a lot as I've already tried on multiple computers, with multiple codebases (including ones without any thread apart from the microROS thread), and still, impossible to turn on this multithreading. Am I missing something? |
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Hey, I'm facing the exact same error. I'll try the things mentioned here and will update the results. |
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Project builds successfully after adding "-DUUCLIENT_PROFILE_MULTITHREAD=ON" in colcon.meta. I'm using a single executor and thread for uros so I think changing the multi thread flag won't do anything. This error occurs only with a specific sequence of requests made (service clients on ESP32) which are working as usual when executed otherwise. It'll be really helpful to understand what the error is about. |
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@pablogs9 still nothing ? |
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Provide code for replicating this issue |
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I will try to provide a minimal code replicating this soon, as it currently requires connection with multiple other devices |
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I am attaching the multithread_publisher, which is also available in examples, which can be used for replicating this issue, |
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I'm getting the same build failure when setting It appears to have been introduced by eProsima/Micro-XRCE-DDS-Client#236 |
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ESP32 crashes when listening_message_reliably
Steps to reproduce the issue
My project consist on controlling a BT Mesh provisioner via ROS, and transmitting sensors data from the Mesh network to ROS.
The ESP32 serves as a message bridge between the provisioner and ROS.
For that I've got 4 threads running :
The nRF5340 scans for unprovisioned ("unconnected") mesh nodes, and sends the UUIDs to the ESP32 via serial.
So the ESP32 receives a 16 bytes UUID from UART, the uart_phy sends this UUID to uart_mac_rx through a message queue.
uart_mac_rx wakes up because something is in the queue, sees that it is an UUID, and publish it with my "unprov_pub".
The ROS message is the following :
ble2ros_interfaces/msg/Beacon.msg
Expected behavior
UUIDs are sent to ROS without error
Actual behavior
Sometimes, mostly when the ESP32 receives a lot of UUID's to transmit to ROS, i got the following error :
assert failed: pbuf_free IDF/components/lwip/lwip/src/core/pbuf.c:757 (pbuf_free: p->ref > 0)OR
assert failed: tlsf_free heap_tlsf.c:872 (!block_is_free(block) && "block already marked as free")but mostly the pbuf_free assert failed.
The most frequent stack backtrace is the following :
Additional information
I also had other configuration with at most 4 pubs and 4 subs, and this problem can occur with any publisher.
I went back to 2 pubs and 2 subs to get back to the basic uROS config (also resetted the max pub/sub in colcon.meta)
I looked if the heap became corrupted at some point, but it was always clean.
When disabling asserts, it stills crash with Guru meditation error: Core 0 panic'ed
I tried lowering priorities, (12 for UART, 11 for uROS), switching priorities (4 for UART, 5 for uROS), still got the same problem.
Looked over the internet for solutions, looked in this repo's issues, found nothing...
Looked if I had memory leaks, but found none
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