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Adding a parameter server doesn't work ? #160

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l4es opened this issue Nov 10, 2024 · 8 comments
Open

Adding a parameter server doesn't work ? #160

l4es opened this issue Nov 10, 2024 · 8 comments

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@l4es
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l4es commented Nov 10, 2024

Issue template

  • Hardware description: raspberry pi pico rp2040
  • RTOS: None
  • Installation type: platformio
  • Version or commit hash: humble

Steps to reproduce the issue

N/A

Expected behavior

  • Working with 2 publishers,1 subscription and 1 timer as previously,
  • Working with the additional parameter server of 2 parameters.

Actual behavior

Adding the parameter server causes multiple object deleted , repeated session closed / session established as soon as datawriter created and no more topic published :

[1731234790.341469] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x63680BBD, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[1731234790.341500] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 80 0D 00 05 01 06 00 00 19 00 25 00 00
[1731234790.341515] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0E 00 00 00 80
[1731234790.342558] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0E 00 00 00 80
[1731234790.347052] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 12, data: 
0000: 81 01 00 00 03 01 04 00 00 1A 00 02
[1731234790.347077] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0000
[1731234790.347103] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 00 00 05 01 06 00 00 1A 00 02 00 00
[1731234790.347480] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 20, data: 
0000: 81 01 01 00 03 01 04 00 00 1B 00 05 03 01 04 00 00 1C 00 03
[1731234790.347702] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0000
[1731234790.347731] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0000
[1731234790.347740] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 01 00 05 01 06 00 00 1B 00 05 00 00
[1731234790.347805] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 02 00 05 01 06 00 00 1C 00 03 00 00
[1731234790.347824] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 12, data: 
0000: 81 01 02 00 03 01 04 00 00 1D 00 12
[1731234790.347846] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0001
[1731234790.347874] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 03 00 05 01 06 00 00 1D 00 12 00 00
[1731234790.348236] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 20, data: 
0000: 81 01 03 00 03 01 04 00 00 1E 00 15 03 01 04 00 00 1F 00 13
[1731234790.348363] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0001
[1731234790.348390] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0001
[1731234790.348428] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 04 00 05 01 06 00 00 1E 00 15 00 00
[1731234790.348462] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 05 00 05 01 06 00 00 1F 00 13 00 00
[1731234790.348868] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 24, data: 
0000: 81 01 04 00 08 01 10 00 00 20 00 06 00 00 00 01 00 00 00 00 00 00 00 00
[1731234790.349181] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 12, data: 
0000: 81 01 05 00 03 01 04 00 00 21 00 22
[1731234790.349554] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 20, data: 
0000: 81 01 06 00 03 01 04 00 00 22 00 06 03 01 04 00 00 23 00 04
[1731234790.350119] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 24, data: 
0000: 81 01 07 00 08 01 10 00 00 24 00 08 00 00 00 01 00 00 00 00 00 00 00 00
[1731234790.350349] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 12, data: 
0000: 81 01 08 00 03 01 04 00 00 25 00 08
[1731234790.350650] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 12, data: 
0000: 81 01 09 00 03 01 04 00 00 26 00 32
[1731234790.350975] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 20, data: 
0000: 81 01 0A 00 03 01 04 00 00 27 00 25 03 01 04 00 00 28 00 23
[1731234790.352838] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 12, data: 
0000: 81 01 0B 00 03 01 04 00 00 29 00 01
[1731234790.353243] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 12, data: 
0000: 81 00 00 00 03 01 04 00 00 02 FF FE
[1731234790.354955] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[1731234790.431638] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0002
[1731234790.431688] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 06 00 05 01 06 00 00 21 00 22 00 00
[1731234790.531906] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0000
[1731234790.531936] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0000
[1731234790.531946] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 07 00 05 01 06 00 00 22 00 06 00 00
[1731234790.531995] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 08 00 05 01 06 00 00 23 00 04 00 00
[1731234790.542700] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x63680BBD, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[1731234790.637166] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0000
[1731234790.637202] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0003
[1731234790.637217] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 09 00 05 01 06 00 00 25 00 08 00 00
[1731234790.637270] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 0A 00 05 01 06 00 00 26 00 32 00 00
[1731234790.637407] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0002
[1731234790.637437] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 0B 00 05 01 06 00 00 27 00 25 00 00
[1731234790.637439] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0002
[1731234790.637484] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x63680BBD, len: 14, data: 
0000: 81 01 0C 00 05 01 06 00 00 28 00 23 00 00
[1731234790.638773] debug    | ProxyClient.cpp    | delete_object_unlock     | object deleted         | client_key: 0x63680BBD, object_id: 0x0000
[1731234790.638825] info     | Root.cpp           | delete_client            | delete                 | client_key: 0x63680BBD
[1731234790.638845] info     | SessionManager.hpp | destroy_session          | session closed         | client_key: 0x63680BBD, address: 0
[1731234790.643167] info     | Root.cpp           | create_client            | create                 | client_key: 0x71ACE51E, session_id: 0x81
[1731234790.643184] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x71ACE51E, address: 0
[1731234790.643245] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x71ACE51E, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1731234790.646187] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x71ACE51E, len: 56, data: 
0000: 81 80 00 00 01 07 2E 00 00 0A 00 01 01 03 00 00 20 00 00 00 00 01 00 00 18 00 00 00 6D 69 63 72
0020: 6F 5F 72 6F 73 5F 66 69 72 6D 77 61 72 65 5F 6E 6F 64 65 00 00 00 67 73
[1731234790.648972] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x71ACE51E, participant_id: 0x000(1)
[1731234790.649059] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x71ACE51E, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1731234790.649105] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x71ACE51E, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1731234790.650170] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x71ACE51E, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1731234790.652268] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x71ACE51E, len: 80, data:

Additional information

platformio.ini :

[env]
framework = arduino
lib_deps = 
    https://github.com/micro-ROS/micro_ros_platformio
    Wire
    SPI
    robtillaart/MS5611@^0.4.0
    finani/ICM42688@^1.1.0
    paulstoffregen/Time@^1.6.1

board_microros_transport = serial
board_microros_distro = humble
board_microros_user_medata = project_colcon.meta

[env:pico]
platform = raspberrypi
board = pico
upload_protocol = picotool

; Flash Size: 2MB (no filesystem)
board_upload.maximum_size = 2097152

; CPU Speed: 133MHz
board_build.f_cpu =  133000000L

; Disable Debug and C++ Exceptions ; Optimize for size (Small OS)
build_unflags = -DDEBUG -fexceptions
build_flags = -DNDEBUG -fno-exceptions -Os -ffunction-sections -fdata-sections

project_colcon.meta

{
    "names": {
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=20",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=20",
                "-DRMW_UXRCE_MAX_SERVICES=10",
                "-DRMW_UXRCE_MAX_CLIENTS=1",
                "-DRMW_UXRCE_MAX_HISTORY=2",
                "-DRMW_UXRCE_TRANSPORT=custom"
            ]
        }
    }
}

The code of adding the parameter server:

#include <rclc_parameter/rclc_parameter.h>

rcl_publisher_t imu_publisher;
rcl_publisher_t baro_publisher;
rcl_subscription_t subscriber;

rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;

rcl_timer_t timer;
rclc_parameter_server_t param_server;

const char * framerate_name  = "fps";
const char * exposure_name   = "exp";

int framerate = 20;
int exposure = 10000;

bool param_callback(const Parameter * old_param, const Parameter * new_param, void * context)
{
  // check if an existing parameter is updated
  if (old_param != NULL && new_param != NULL)
  {
    // set changed parameter value
    if(strcmp(new_param->name.data, framerate_name) == 0){ framerate = new_param->value.integer_value; }
    else if(strcmp(new_param->name.data, exposure_name) == 0){ exposure = new_param->value.integer_value; }

    return true;
  }
  else
    return false; // reject loading of new parameters or deletion of existing parameters
}

bool create_entities()
{
  allocator = rcl_get_default_allocator();
  // create init_options
  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
  // create node
  RCCHECK(rclc_node_init_default(&node, "micro_ros_firmware_node", "", &support));
  // create publisher
  RCCHECK(rclc_publisher_init_best_effort(
    &imu_publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(rtr_msgs, msg, TinyImu),
    "imu/tiny_data"));
  RCCHECK(rclc_publisher_init_best_effort(
    &baro_publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32),
    "baro/pressure"));
    // create subscriber
    RCCHECK(rclc_subscription_init_default(
    &subscriber,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
    "trigger_pulse/duty"));

    // Create timer,
  RCCHECK(rclc_timer_init_default(
    &timer,
    &support,
    RCL_MS_TO_NS(timeout_ms),
    timer_callback));

   // Init custom parameter server
//   rclc_parameter_options_t param_options = {
//      .notify_changed_over_dds = true,
//      .max_params = 2,
//      .allow_undeclared_parameters = true,
//      .low_mem_mode = false};
//   RCCHECK(rclc_parameter_server_init_with_option(&param_server, &node, &param_options));

   // Init default parameter server
  RCCHECK(rclc_parameter_server_init_default(&param_server, &node));

  // create executor
  executor = rclc_executor_get_zero_initialized_executor();
  RCCHECK(rclc_executor_init(&executor, &support.context, RCLC_EXECUTOR_PARAMETER_SERVER_HANDLES + 1, &allocator));
  RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &trigger_duty_msg, &subscription_callback, ON_NEW_DATA));
  RCCHECK(rclc_executor_add_timer(&executor, &timer));
  RCCHECK(rclc_executor_add_parameter_server(&executor, &param_server, param_callback));

  // add parameters to the server
  RCCHECK(rclc_add_parameter(&param_server, framerate_name, RCLC_PARAMETER_INT));
  RCCHECK(rclc_add_parameter(&param_server, exposure_name, RCLC_PARAMETER_INT));

  // add parameter constraints
  RCCHECK(rclc_add_parameter_constraint_integer(&param_server, framerate_name, 0, 40, 10));
  RCCHECK(rclc_add_parameter_constraint_integer(&param_server, exposure_name, 20, 32000, 10));

  // set parameter default values
  RCCHECK(rclc_parameter_set_int(&param_server, framerate_name, framerate));
  RCCHECK(rclc_parameter_set_int(&param_server, exposure_name, exposure));

  return true;
}

void destroy_entities()
{
  rmw_context_t * rmw_context = rcl_context_get_rmw_context(&support.context);
  (void) rmw_uros_set_context_entity_destroy_session_timeout(rmw_context, 0);
  rcl_publisher_fini(&imu_publisher, &node);
  rcl_publisher_fini(&baro_publisher, &node);
  rcl_subscription_fini(&subscriber, &node);
  rcl_timer_fini(&timer);
  rclc_parameter_server_fini(&param_server, &node);
  rclc_executor_fini(&executor);
  rcl_node_fini(&node);
  rclc_support_fini(&support);
}
@hippo5329
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hippo5329 commented Nov 10, 2024 •
edited
Loading

Pico might have too limited ram. Try

https://github.com/hippo5329/micro-ROS-demos-platformio/tree/rolling/rclc/parameter_server

jazzy esp32 seems work, pico crashed

ubuntu@alive-pug:~$ ros2 topic list
/micro_ros_pub
/parameter_events
/rosout
ubuntu@alive-pug:~$ ros2 param list
/micro_ros_node:
  publish_rate_ms
  publish_toogle

@l4es
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l4es commented Nov 11, 2024

Hi @hippo5329,

Thanks for your finding. Do you think that switching to use services seems to be a better solution by the way ?

@l4es
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l4es commented Nov 11, 2024 •
edited
Loading

Hi again @hippo5329,
To update, I was able to implement and test up to 2 services successfully together with 2 publishers, 1 subscription and 1 timer on the RP2040 Pico.

For limitation of RAM, maybe the RP2350 / Pico 2 would be better option if supported.

@hippo5329
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Contributor

I see RP2350/pico 2 is supported in platformio So micro-ROS port should work. We can try out. I just ordered an pico 2 to test.

https://github.com/maxgerhardt/platform-raspberrypi

@hippo5329
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hippo5329 commented Nov 11, 2024 •
edited
Loading 

[env:pico2]
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
board = rpipico2
framework = arduino
board_build.core = earlephilhower
lib_ldf_mode = chain+

@l4es
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l4es commented Nov 23, 2024 •
edited
Loading

Hi @hippo5329,

I tried above platformio.ini for the rp2350 but got the following issue :
Building micro-ROS library

Build mcu micro-ROS environment failed: 
--- stderr: rcutils
/root/ws/build/.pio/libdeps/pico2/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c:48:4: warning: #warning before C23 is a GCC extension
   48 | #  warning no monotonic clock function available
      |    ^~~~~~~
/root/ws/build/.pio/libdeps/pico2/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c:48:4: warning: #warning no monotonic clock function available [-Wcpp]
/root/ws/build/.pio/libdeps/pico2/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c: In function 'rcutils_system_time_now':
/root/ws/build/.pio/libdeps/pico2/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c:65:7: error: implicit declaration of function 'clock_gettime' [-Wimplicit-function-declaration]
   65 |   if (clock_gettime(CLOCK_REALTIME, &timespec_now) < 0) {
      |       ^~~~~~~~~~~~~
gmake[2]: *** [CMakeFiles/rcutils.dir/build.make:432: CMakeFiles/rcutils.dir/src/time_unix.c.obj] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:192: CMakeFiles/rcutils.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< rcutils [5.53s, exited with code 2]

It looks similar to this : #153

@hippo5329
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hippo5329 commented Nov 23, 2024 •
edited
Loading

I see the same. This might be new toolchains issue of definition of _POSIX_TIMERS, we should report this to earle.

20276b0

@l4es
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l4es commented Nov 26, 2024 •
edited
Loading

Hi @hippo5329,

For micro_ros_platformio, I used the commit you shared :

lib_deps = 
    https://github.com/micro-ROS/micro_ros_platformio.git#20276b09f0b71131450f70a9acc53e05fbb9fda1

However I am still facing with the issue :

Building micro-ROS library
Build mcu micro-ROS environment failed: 
--- stderr: rcutils
/root/ws/build/.pio/libdeps/pico2/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c:48:4: warning: #warning before C23 is a GCC extension
   48 | #  warning no monotonic clock function available
      |    ^~~~~~~
/root/ws/build/.pio/libdeps/pico2/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c:48:4: warning: #warning no monotonic clock function available [-Wcpp]
/root/ws/build/.pio/libdeps/pico2/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c: In function 'rcutils_system_time_now':
/root/ws/build/.pio/libdeps/pico2/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c:65:7: error: implicit declaration of function 'clock_gettime' [-Wimplicit-function-declaration]
   65 |   if (clock_gettime(CLOCK_REALTIME, &timespec_now) < 0) {
      |       ^~~~~~~~~~~~~
gmake[2]: *** [CMakeFiles/rcutils.dir/build.make:432: CMakeFiles/rcutils.dir/src/time_unix.c.obj] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:192: CMakeFiles/rcutils.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< rcutils [1.28s, exited with code 2]

======================================================================================= [FAILED] Took 38.53 seconds =======================================================================================

Environment    Status    Duration
-------------  --------  ------------
pico2          FAILED    00:00:38.533

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