Issues Running ROS2-PX4

asaif · July 21, 2022, 2:13pm

Hello everybody,
I’e been following the guide to setup up PX4-ROS 2 bridge here: ROS 2 User Guide (PX4-ROS 2 Bridge) | PX4 User Guide .

I’m able to successfully run “make px4_sitl_rtps gazebo”, however when I try to launch the micrortps_client in another terminal (after sourcing my ros distro), I run into the following error:

terminate called after throwing an instance of ‘eprosima::fastcdr::exception::BadParamException’
what(): Unexpected byte value in Cdr::deserialize(bool), expected 0 or 1
Aborted (core dumped)

Has anyone else had the same issue? Thanks in advance

stonkens · July 23, 2022, 11:38pm

I have the same issue.

I have the following setup: Ubuntu 20.04 & ROS Foxy
openjdk 13.0.7
fastrtpsgen 1.0.4

All other steps are successful and subscribers and publishers seem to be all set up succesfully (u until VehicleTrajectoryWaypointDesired publisher)

Ale_Santo · July 24, 2022, 12:37pm

Hello Stonkens,

There is an issue with the last release of AutoPilot PX4.

RyanDsouza · July 28, 2022, 2:57pm

Hello,
Even I’m facing the same issue.
When can we expect a fix?

hhjj0506 · July 29, 2022, 1:20am

@RyanDsouza
I ran into the same problem very recently, and reverting back to the earlier version solved the problem.
The issue is currently closed due to the fix being made to the most recent version, but I don’t know if anyone has checked if the change is working or not.
For more details, please visit the links below.

github.com/PX4/PX4-Autopilot

px4_sitl_rtps doesn't work with px4_ros_com micrortps_bridge

opened 10:40PM - 14 Jul 22 UTC

closed 03:29PM - 28 Jul 22 UTC

jaredsjohansen

bug-report

## Describe the bug In the `master` branch of this repo (from about a month ago…), I could follow the steps described [here](https://docs.px4.io/v1.12/en/ros/ros2_comm.html#build-ros-2-workspace) to get data from the `px4_sitl_rtps gazebo` simulator to cross the micrortps bridge and show up in ROS2. I could also run the offboard_mode example with ROS2. Around July 8, the `master` branch of this repo was merged into `main`. When that occurred, data from the `px4_sitl_rtps gazebo` simulator would be sent over the micrortps bridge, but the micrortps_agent would die with this error: ``` terminate called after throwing an instance of 'eprosima::fastcdr::exception::BadParamException' what(): Unexpected byte value in Cdr::deserialize(bool), expected 0 or 1 Aborted (core dumped) ``` I believe the bug is associated with this [issue/fix](https://github.com/PX4/PX4-Autopilot/pull/12025), which was made on the `master` branch, but doesn't appear to be fully integrated into the `main` branch. The first file seems fine. The second file doesn't. I tried editing the second file associated with this [MR](https://github.com/PX4/PX4-Autopilot/pull/12025/files) (which appears to be renamed slightly to `msg/templates/uorb_microcdr/msg.cpp.em`), but was unable to get it to work. When I revert the repo to an earlier version (i.e., right before the `master` -> `main` merge by using `git checkout 10a2b4c9f7d34234459b4d3604b99a33491a9d83`), everything works properly (i.e., data is sent over the micrortps bridge, the micrortps_agent receives it, and you can `ros2 topic echo` any of the messages). I have checked whether the `px4_msgs` or `px4_ros_com` repos have changed in the previous month. They have not. The source of the miscommunication across the micrortps bridge appears to be associated with recent changes to the PX4-Autopilot repo. ## To Reproduce Steps to reproduce the behavior: 1. In terminal 1, get the latest version of this repo and start the simulator: ``` git clone https://github.com/PX4/PX4-Autopilot --recursive cd ~/PX4-Autopilot make make px4_sitl_rtps make px4_sitl_rtps gazebo ``` 2. In terminal 2, follow the steps described [here](https://docs.px4.io/v1.12/en/ros/ros2_comm.html#build-ros-2-workspace) to install Fast-DDS, ROS2, and the px4_ros_com_ros2 workspace. When running the [sanity check the installation](https://docs.px4.io/v1.12/en/ros/ros2_comm.html#sanity-check-the-installation) section, you will run these commands: ``` source ~/px4_ros_com_ros2/install/setup.bash micrortps_agent -t UDP ``` which will produce this error: ``` terminate called after throwing an instance of 'eprosima::fastcdr::exception::BadParamException' what(): Unexpected byte value in Cdr::deserialize(bool), expected 0 or 1 Aborted (core dumped) ``` 3. In terminal 1, revert the PX4-Autopilot to an earlier version and restart the simulator: ``` cd ~/PX4-Autopilot git checkout 10a2b4c9f7d34234459b4d3604b99a33491a9d83 make make px4_sitl_rtps make px4_sitl_rtps gazebo ``` 4. In terminal 2, restart the micrortps_agent (`micrortps_agent -t UDP`). It should not die. 6. In terminal 3, you can now `ros2 topic echo` any of the fields and it will print out data: ``` ros2 topic echo /fmu/sensor_combined/out --- timestamp: 1657838030351792 gyro_rad: - -0.0005326324608176947 - -0.0007989492150954902 - -0.0007989475270733237 gyro_integral_dt: 4000 accelerometer_timestamp_relative: 0 accelerometer_m_s2: - 0.06823474913835526 - 0.07062912732362747 - -9.889251708984375 accelerometer_integral_dt: 4000 accelerometer_clipping: 0 gyro_clipping: 0 accel_calibration_count: 0 gyro_calibration_count: 1 ``` ## Expected behavior There should be no error when performing step 2 above. ## Log Files and Screenshots N/A ## Drone: px4_sitl_rtps (iris rtps) ## Additional context None

github.com/PX4/PX4-Autopilot

msg/position_controller_landing_status.msg: fix constant name convent…

PX4:main ← beniaminopozzan:pr-fix-msg-ros-name-conventions

opened 08:52AM - 28 Jul 22 UTC

beniaminopozzan

+19 -19

…ions - msg constant names now comply with ROS conventions: uppercase alphan…umeric characters with underscores for separating words partially fix #19917 ## Describe problem solved by this pull request `msg/position_controller_landing_status.msg` was using wrong ROS naming [conventions](http://design.ros2.org/articles/interface_definition.html#naming-of-messages-and-services) for its constant names which prevented a successful compilation of [px4_msgs](https://github.com/PX4/px4_msgs). ## Describe your solution The constant name definitions and all their occurrences have been fixed.

RyanDsouza · July 29, 2022, 7:30am

Thank you @hhjj0506 I reverted back to an earlier version and it solved the issue

Benja · July 29, 2022, 8:18am

Hi @RyanDsouza , @hhjj0506 , the issue is almost fixed as the problems on the PX4 side should be now solved. However, the message definitions of px4_msgs are still out of date (something about a broken CI/CD it seems). You can see here how to manually generate the message definitions in order to use the last version of PX4 without having to revert back. Simply run uorb_to_ros_msgs.py with the PX4-Autopilot/msg/ and the px4_msgs/msg/ paths (adapted to your cases) as first and second argument respectively, and then recompile.
If you have time to check this solution, please let us know the outcome in the above mentioned github issue.

RyanDsouza · July 29, 2022, 10:10am

Hello @Benja !
Thank you for the solution, it did work with the latest version of PX4 using the uorb_to_ros_msgs.py.

Pierce_Nichols · August 20, 2022, 12:36am

Just tried this with the tip of main on PX4-Autopilot, the tip of master on px4_msgs, the tip of master on px4_ros_com, and ROS2 humble, all running on Ubuntu 22.04 LTS… and it works.

maxinho · August 30, 2022, 8:37am

I cannot get it to run, neither on Ubuntu 20, nor Ubuntu 22. Could you please let me know your exact commits and versions of all involved libraries? That would help me so much.

Benja · August 30, 2022, 12:30pm

Hi @maxinho
I use ubuntu 20.04, all repository on the current main branches
PX4: e780a583cd2f3c0c42978ff0e5c010f104443267
px4_ros_com: 3a42a27fcdc4b67c120ee84267d236d558951c18
px4_msgs: 7f89976091235579633935b7ccaab68b2debbe19
after having manually updated the msgs definition everything works just fine.

mengchaoheng · August 30, 2022, 2:01pm

Switched the code to the version you mentioned and followed the tutorial and then everything worked?@Benja

mengchaoheng · August 30, 2022, 2:02pm

what is “manually updated the msgs definition” mean? @Benja

Benja · August 30, 2022, 2:08pm

I mean this:

Yes, to be more precise: I use ubuntu 20.04 and ros foxy (in my case is source installed but it should be the same)

mengchaoheng · August 30, 2022, 2:15pm

sorry, I don’t know how to manually generate the message definitions, since the tutorial by that link is may me fuse, yes it didn’t work.@Benja

mengchaoheng · August 30, 2022, 2:16pm

can you get me some detail @Benja

mengchaoheng · August 30, 2022, 2:19pm

parallels@ubuntu-linux-20-04-desktop:/media/psf/Home/Proj/PX4-Autopilot$ python3 Tools/generate_microRTPS_bridge.py -s msg/sensor_baro.msg -r msg/sensor_combined.msg
python3: can't open file 'Tools/generate_microRTPS_bridge.py': [Errno 2] No such file or directory

parallels@ubuntu-linux-20-04-desktop:/media/psf/Home/Proj/PX4-Autopilot/msg$ python3 Tools/generate_microRTPS_bridge.py  PX4-Autopilot/msg/ px4_msgs/msg/
usage: generate_microRTPS_bridge.py [-h] [-a] [-c] [-i] [-j IDL_DIR] [-m] [-l] [-t MSGDIR] [-b UORB_TEMPLATES]
                                    [-q URTPS_TEMPLATES] [-y YAML_FILE] [-p PACKAGE] [-o AGENTDIR] [-u CLIENTDIR]
                                    [-f [FASTRTPSGEN]] [-g FASTRTPSGEN_INCLUDE] [-r [ROS2_DISTRO]] [--delete-tree]
generate_microRTPS_bridge.py: error: unrecognized arguments: PX4-Autopilot/msg/ px4_msgs/msg/

Benja · August 30, 2022, 2:35pm

You don’t have to generate the whole microRTPS_bridge. You only need to generate the message definitions.
You are running the wrong script.
The right one is uorb_to_ros_msgs.py. Please see the link above.

maxinho · August 31, 2022, 8:34am

Thx a lot for your support, @Benja.
I have it working now with the Micro XRCE-DDS and microROS. Though, I couldn’t thorougly test it, yet. Maybe, I’ll run into issues with this setup and have to switch back to the micrortps agent. We will see…

hslyu · October 16, 2022, 6:10am

Thank you @Benja. Your solution solved my issue (Ubuntu 18.04, ROS2 Dashing, latest PX4 main repo).

I have another tips for some other guys who may encounter the same error:
When you guys recompile the ros2 source, you first need to completely delete already built files.
That is,

rm -r /path/to/px4_ros_com_ros2/build
rm -r /path/to/px4_ros_com_ros2/install

Then, recompile the ros2 workspace following the instruction: ROS 2 User Guide (PX4-ROS 2 Bridge) | PX4 User Guide
Otherwise, same errors are reproduced even you recompile the source files.