Stuck on an issue?

Lightrun Answers was designed to reduce the constant googling that comes with debugging 3rd party libraries. It collects links to all the places you might be looking at while hunting down a tough bug.

And, if you’re still stuck at the end, we’re happy to hop on a call to see how we can help out.

ros2 param list does not work with multiple rmw implementaion

See original GitHub issue

Bug report

Operating System:
- Ubuntu 20.04
Installation type:
- source code
Version or commit hash:
- https://github.com/ros2/ros2/commit/57b618fb80e6e93fc0323650378f1630a7d4773b
DDS implementation:
- multiple rmw implementation Fast-DDS and Cyclonedds
Client library (if applicable):
- rclcpp and rclpy

Steps to reproduce issue

talker with cyclonedds and ros2 param list with fastdds

it seems that talker does not even receive the service request from client.

[Terminal - 1]
root@5c7a784cba7f:~/ros2_ws/colcon_ws# ros2 run demo_nodes_cpp talker
[INFO] [1611218728.615967478] [talker]: Publishing: 'Hello World: 1'
[INFO] [1611218729.615458541] [talker]: Publishing: 'Hello World: 2'
...<snip>

[Terminal - 2]
root@5c7a784cba7f:~/ros2_ws/colcon_ws# RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 param list
Exception while calling service of node '/talker': None

talker with fastdds and ros2 param list with cyclonedds

this could be security issue since we can crash the node via parameter request.

[Terminal - 1]
root@5c7a784cba7f:~/ros2_ws/colcon_ws# RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 run demo_nodes_cpp talker
[INFO] [1611218853.091887892] [talker]: Publishing: 'Hello World: 1'
[INFO] [1611218854.091851082] [talker]: Publishing: 'Hello World: 2'
[INFO] [1611218855.091853219] [talker]: Publishing: 'Hello World: 3'
[INFO] [1611218856.091876166] [talker]: Publishing: 'Hello World: 4'
[INFO] [1611218857.091860947] [talker]: Publishing: 'Hello World: 5'
[INFO] [1611218858.091872255] [talker]: Publishing: 'Hello World: 6'
[INFO] [1611218859.091883693] [talker]: Publishing: 'Hello World: 7'
[INFO] [1611218860.091857624] [talker]: Publishing: 'Hello World: 8'
[INFO] [1611218861.091900999] [talker]: Publishing: 'Hello World: 9'
[INFO] [1611218862.091897370] [talker]: Publishing: 'Hello World: 10'
[INFO] [1611218863.091898792] [talker]: Publishing: 'Hello World: 11'
[INFO] [1611218864.091924685] [talker]: Publishing: 'Hello World: 12'
[INFO] [1611218865.091936687] [talker]: Publishing: 'Hello World: 13'
[INFO] [1611218866.091938711] [talker]: Publishing: 'Hello World: 14'
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc

[Terminal - 2]
root@5c7a784cba7f:~/ros2_ws/colcon_ws# ros2 param list
root@5c7a784cba7f:~/ros2_ws/colcon_ws# ros2 param list
root@5c7a784cba7f:~/ros2_ws/colcon_ws# ros2 param list
Exception while calling service of node '/talker': None

Expected behavior

able to get parameter list for both cases

root@5c7a784cba7f:~/ros2_ws/colcon_ws# ros2 param list
/talker:
  use_sim_time

Actual behavior

either unable to parameter list or application core crashhttps://index.ros.org/doc/ros2/Tutorials/Working-with-multiple-RMW-implementations/#multiple-rmw-implementations

Additional information

according to https://index.ros.org/doc/ros2/Tutorials/Working-with-multiple-RMW-implementations/#multiple-rmw-implementations, there is no constraints / limitation between cyclonedds and fastdds.

Issue Analytics

State:
Created 3 years ago
Comments:9 (2 by maintainers)

Top GitHub Comments

2reactions

MiguelCompanycommented, Jan 21, 2021

Seems like a deserialization exception we are not capturing. I will take a look.

0reactions

fujitatomoyacommented, Feb 4, 2021

since https://github.com/eProsima/Fast-CDR/pull/98 and https://github.com/ros2/rmw_fastrtps/pull/505 are merged, the rest is to update documentation which tells that services do not work cross-vendor rmw implementation. i will assign to this on me.

Top Results From Across the Web

Working with multiple ROS 2 middleware implementations

It is possible to run into a problem when “rebuilding” the workspace with an additional RMW implementation using the --cmake-force-configure option where ...

Get Started with ROS 2 - MATLAB & Simulink - MathWorks

Configure the Python™ environment in the ROS Toolbox Preferences dialog box and select an implementation from the ROS Middleware (RMW) Implementation dropdown ...

ROS2 Concepts in Practice #3 - DDS/RTPS - The Construct

That is quite easy. After running ros2 topic list, a ROS2 Daemon will be launched and in the command line, you will see...

include/rmw/rmw.h File Reference - ROS 2 Docs

This should be defined by the rmw implementation. Parameters. [in], context, init context that this node should be associated with. [in], name ...

ROS 2 Interface - Create® 3 Docs

The Create® 3 robot is based on ROS 2 and, as such, it exposes all its ... with additional arguments ros2 topic list...