SOLVED -> Help debugging the MicroROS / Agent configuration, ESP32

gentijo · August 5, 2022, 8:41pm

Hi, I am trying to set up an ESP32 based bot running MicroROS connected to a my ROS host running on Docker. My base project has the device side subscribing to the /cmd_vel topic, where I am trying to publish messages from the tuttlesim telop_key executable on my ROS host and I am expecting to see the call back in my code being activated thru debug messaging on my device.

I see my device register with the agent on boot and I see the device spinning waiting for a message but I am not seeing the node in the node graph.
I was expecting to see a Node in the node graph representing my connected device thru the Agent.
When I issue commands via the teleop key executable, I am not seeing the call back being activated.

I am looking for insight on how to debug this ??

The project is located here GitHub - gentijo/MaqueenBattleBots
The code as it is should run on any ESP32, I haven’t added any specific code to control the device itself yet.

The files of importance on the device are;

Main code to init the ESP32 and MicroROS

github.com

gentijo/MaqueenBattleBots/blob/main/microros_ws/bots/maqueen-esp32/main/main.c

#include "microbot.h"

#include <uros_network_interfaces.h>
#include "exc_sub_velocity.h"

#define DOMAIN_ID 1

char name[26] = "turtle1";

void micro_ros_task(void * arg)
{
    rcl_allocator_t allocator = rcl_get_default_allocator();
	rclc_support_t support;

	// Create init_options.
    printf("Initializing the system");
	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
	RCCHECK(rcl_init_options_init(&init_options, allocator));
	RCCHECK(rcl_init_options_set_domain_id(&init_options, DOMAIN_ID));

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Registers the subscription and prints debug on call back.

github.com

gentijo/MaqueenBattleBots/blob/main/microros_ws/bots/maqueen-esp32/main/exc_sub_velocity.c

#include <stdio.h>
#include <math.h>

#include "microbot.h"
#include "exc_sub_velocity.h"

#include "geometry_msgs/msg/twist.h"

rcl_subscription_t velocity_subscription;
geometry_msgs__msg__Twist velocity_msg;

double lin_vel_x_;
double lin_vel_y_;
double ang_vel_;
  

void sub_velocity_callback(const void * msgin)
{
	const geometry_msgs__msg__Twist *vel = (const geometry_msgs__msg__Twist *)msgin;
	printf("Received: velocity");

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I am running unmodified Agent code.

Debug output from my Device

Output from the Agent

Thank you
John

gentijo · August 5, 2022, 10:43pm

Hacking around, I was able to get the Node to show up on the Node graph by setting my Domain ID = 0, for some reason it was 3, not sure if I set it or it was copied and pasted from somewhere.

Now the Node shows up on the Graph but it is not connected to the Teleop_Key node.
I also changed the namespace, it seemed to change things but not in a way that is helpful.

My device node is the one node named /turtle1, if I terminate the Agent and disconnect my device I get the 2nd graph.

Graph with Device connected and Agent running
rosgraph

Graph with Agent and Device removed
rosgraph2

gentijo · August 6, 2022, 12:00am

Sorry for all the spam to the list, finally got it working. Working code here GitHub - gentijo/MaqueenBattleBots at VelCmdWorking

Although the node graph +topics, looks odd to me.

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SOLVED -> Help debugging the MicroROS / Agent configuration, ESP32

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