Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

FreeRTOS tasks are not working #236

Open
SynKolbasyn opened this issue Mar 23, 2024 · 2 comments
Open

FreeRTOS tasks are not working #236

SynKolbasyn opened this issue Mar 23, 2024 · 2 comments

Comments

@SynKolbasyn
Copy link

Issue template

  • Hardware description: esp32
  • RTOS: FreeRTOS
  • Installation type: micro_ros_setup
  • Version or commit hash: iron

Steps to reproduce the issue

  1. I created the microros_ws/firmware/freeertos_apps/apps/test_project/ folder
  2. I have created two files in this folder:
    app-colcon.meta:
{
    "names": {
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=2",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
                "-DRMW_UXRCE_MAX_SERVICES=0",
                "-DRMW_UXRCE_MAX_CLIENTS=0",
                "-DRMW_UXRCE_MAX_HISTORY=1",
            ]
        }
    }
}

main.c:

#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <std_msgs/msg/int32.h>

#include <rclc/rclc.h>
#include <rclc/executor.h>

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"


#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}


rcl_publisher_t publisher1;
rcl_publisher_t publisher2;


void task_1(void* param);
void task_2(void* param);


void appMain(void* arg) {
  // support & allocator
  rcl_allocator_t allocator = rcl_get_default_allocator();
  rclc_support_t support;
  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

  // node
  rcl_node_t node;
  RCCHECK(rclc_node_init_default(&node, "esp32", "", &support));

  // publishers
  RCCHECK(rclc_publisher_init_default(&publisher1, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "/pub1"));
  RCCHECK(rclc_publisher_init_default(&publisher2, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "/pub2"));

  // tasks
  xTaskCreate(task_1, "task_1", 2048, NULL, 1, NULL);
  xTaskCreate(task_2, "task_2", 2048, NULL, 1, NULL);

  while (1) {
    vTaskDelay(1000000 / portTICK_PERIOD_MS);
  }

  // clean
  RCCHECK(rcl_publisher_fini(&publisher1, &node));
  RCCHECK(rcl_publisher_fini(&publisher2, &node));
  RCCHECK(rcl_node_fini(&node));
  vTaskDelete(NULL);
}


void task_1(void* param) {
  std_msgs__msg__Int32 msg;
  msg.data = 0;

  while (1) {
    RCSOFTCHECK(rcl_publish(&publisher1, &msg, NULL));
    ++msg.data;
    vTaskDelay(1000 / portTICK_PERIOD_MS);
  }

  vTaskDelete(NULL);
}


void task_2(void* param) {
  std_msgs__msg__Int32 msg;
  msg.data = 0;

  while (1) {
    RCSOFTCHECK(rcl_publish(&publisher2, &msg, NULL));
    ++msg.data;
    vTaskDelay(1000 / portTICK_PERIOD_MS);
  }

  vTaskDelete(NULL);
}
  1. Ran the following commands in microros_ws/
ros2 run micro_ros_setup configure_firmware.sh test_app -t serial
ros2 run micro_ros_setup build_firmware.sh
ros2 run micro_ros_setup flash_firmware.sh
source install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -v 6

Expected behavior

I expect to create 2 tasks on esp32 that will independently send messages to different topics

Actual behavior

the agent sends me this message non-stop:

[1711220922.525154] info     | Root.cpp           | create_client            | create                 | client_key: 0x0102790A, session_id: 0x81
[1711220922.525164] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x0102790A, address: 0
[1711220922.525312] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 19, data:
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1711220922.536865] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 36, data:
0000: 81 80 00 00 01 07 1C 00 00 0A 00 01 01 03 00 00 0E 00 00 00 00 01 A5 A5 06 00 00 00 65 73 70 33
0020: 32 00 00 00
[1711220922.540084] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x0102790A, participant_id: 0x000(1)
[1711220922.540383] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 14, data:
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1711220922.540409] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1711220922.549822] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1711220922.556567] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 72, data:
0000: 81 80 01 00 01 07 3E 00 00 0B 00 02 02 03 00 00 30 00 00 00 08 00 00 00 72 74 2F 70 75 62 31 00
0020: 00 01 FB 3F 1C 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 49 6E 74
0040: 33 32 5F 00 00 01 00 00
[1711220922.556891] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x0102790A, topic_id: 0x000(2), participant_id: 0x000(1)
[1711220922.557048] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 14, data:
0000: 81 80 01 00 05 01 06 00 00 0B 00 02 00 00
[1711220922.557088] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1711220922.567315] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1711220922.567381] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 24, data:
0000: 81 80 02 00 01 07 10 00 00 0C 00 03 03 03 00 00 02 00 00 00 00 00 00 01
[1711220922.567630] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x0102790A, publisher_id: 0x000(3), participant_id: 0x000(1)
[1711220922.567720] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 14, data:
0000: 81 80 02 00 05 01 06 00 00 0C 00 03 00 00
[1711220922.567747] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1711220922.579117] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1711220922.579199] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 36, data:
0000: 81 80 03 00 01 07 1C 00 00 0D 00 05 05 03 00 00 0E 00 00 00 00 02 01 00 03 00 01 3F 0A 00 00 00
0020: 00 00 00 03
[1711220922.579590] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x0102790A, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1711220922.579658] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 14, data:
0000: 81 80 03 00 05 01 06 00 00 0D 00 05 00 00
[1711220922.579672] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1711220922.593951] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1711220922.593998] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 72, data:
0000: 81 80 04 00 01 07 3E 00 00 0E 00 12 02 03 00 00 30 00 00 00 08 00 00 00 72 74 2F 70 75 62 32 00
0020: 00 01 00 00 1C 00 00 00 73 74 64 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A 3A 49 6E 74
0040: 33 32 5F 00 00 01 00 00
[1711220922.594114] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x0102790A, topic_id: 0x001(2), participant_id: 0x000(1)
[1711220922.594195] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 14, data:
0000: 81 80 04 00 05 01 06 00 00 0E 00 12 00 00
[1711220922.594214] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1711220922.672631] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1711220922.672714] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 24, data:
0000: 81 80 05 00 01 07 10 00 00 0F 00 13 03 03 00 00 02 00 00 00 00 00 00 01
[1711220922.672917] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x0102790A, publisher_id: 0x001(3), participant_id: 0x000(1)
[1711220922.673138] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 14, data:
0000: 81 80 05 00 05 01 06 00 00 0F 00 13 00 00
[1711220922.673168] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1711220922.696431] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1711220922.696608] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 36, data:
0000: 81 80 06 00 01 07 1C 00 00 10 00 15 05 03 00 00 0E 00 00 00 00 12 01 00 03 00 01 3F 0A 00 00 00
0020: 00 00 00 13
[1711220922.697019] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x0102790A, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1711220922.697103] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 14, data:
0000: 81 80 06 00 05 01 06 00 00 10 00 15 00 00
[1711220922.697123] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1711220922.733249] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1711220922.733306] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 16, data:
0000: 81 80 07 00 07 01 08 00 00 12 00 05 00 00 00 00
[1711220922.733414] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data:
0000: 00 00 00 00
[1711220922.733499] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x0102790A, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1711220923.147581] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x0102790A, len: 24, data:
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 06 DA 84 66 81 00 FC 01
[1711220923.149737] info     | Root.cpp           | delete_client            | delete                 | client_key: 0x0102790A
[1711220923.149774] info     | SessionManager.hpp | destroy_session          | session closed         | client_key: 0x0102790A, address: 0

and messages in topics are constantly = 0

Additional information

Examples from the microros_ws/firmware/freertos_apps/apps/ folder run without problems
@SynKolbasyn SynKolbasyn changed the title Can't create freertos tasks FreeRTOS tasks are not working Mar 23, 2024
@pablogs9
Copy link
Member

pablogs9 commented Apr 1, 2024

You are not using micro-ROS component for ESP-IDF:

ros2 run micro_ros_setup configure_firmware.sh test_app -t serial
ros2 run micro_ros_setup build_firmware.sh
ros2 run micro_ros_setup flash_firmware.sh
source install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -v 6

@SynKolbasyn
Copy link
Author

Oh my God, what a fool I am. I apologize for this misunderstanding.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@pablogs9 @SynKolbasyn