[docker] Is it supposed to generate micrortps_agent and micro-ros-agent?

[ElliotHYLee]

Edit3: To potentially save poor souls like me,

To be able to follow the documentation(https://docs.px4.io/main/en/ros/ros2_comm.html) for setting up PX4 RTPS-ROS2 (Nov.10.22),

use these commits for the following repos:

PX4_Auto~ : 30150f723a69068d12de9295b5d7e1e4fdbf4677

PX4_msg: https://github.com/PX4/px4_msgs/tree/daee1217b8834cb5293f7913bd7f0850c882ffb7

PX4_ros_com: https://github.com/PX4/px4_ros_com/tree/7e25c34df0aab25d6e723385322c62712ea97207

Edit2: #157

This new PR from Sep.22 changed. There's no more [generate_microRTPS_bridge.py] in this project.

The documentation seems to be outdated.

Edit1: To be short,

Could I know which part of this project enables

"micrortps_agent" and "micro-ros-agent"

commands?

---

I'm trying to setup PX4 and ROS2 communication. All builds are successful with the source /opt/ros/~~ and source /install/setup.bash

However, the bash shell cannot find micrortps_agent and cannot run the listener.

I have been following: https://docs.px4.io/main/en/ros/ros2_comm.html#install-fast-dds

1. docker, ubunt20, ros2 foxy, (FROM osrf/ros:foxy-desktop) - check

echo $ROS_DOMAIN_ID --> nth comes out (checking unset)

2.PX4 environment setup - check (being able to build and upload)

PX4_Autopilot - branch : release/1.13
make px4_sitl_rtps gazebo

3. on U20 with ros2 foxy - with fast rtps - check

dpkg -l | grep fastrt
ii ros-foxy-fastrtps 2.1.2-1focal.20220829.174844 amd64 Implementation of RTPS standard.
ii ros-foxy-fastrtps-cmake-module 1.0.4-1focal.20220829.181444 amd64 Provide CMake module to find eProsima FastRTPS.
ii ros-foxy-rmw-fastrtps-cpp 1.3.1-1focal.20221012.224708 amd64 Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.
ii ros-foxy-rmw-fastrtps-shared-cpp 1.3.1-1focal.20221012.221742 amd64 Code shared on static and dynamic type support of rmw_fastrtps_cpp.
ii ros-foxy-rosidl-typesupport-fastrtps-c 1.0.4-1focal.20221012.215818 amd64 Generate the C interfaces for eProsima FastRTPS.
ii ros-foxy-rosidl-typesupport-fastrtps-cpp 1.0.4-1focal.20221012.215633 amd64 Generate the C++ interfaces for eProsima FastRTPS.

fastrtpsgen -version

openjdk version "11.0.17" 2022-10-18
OpenJDK Runtime Environment (build 11.0.17+8-post-Ubuntu-1ubuntu220.04)
OpenJDK 64-Bit Server VM (build 11.0.17+8-post-Ubuntu-1ubuntu220.04, mixed mode, sharing)
fastrtpsgen version 1.0.4

4. git cloned px4_msgs and px4_ros_com under ros workspace/src and run build - check

root@elcom:/home/ubuntu/projects/robot_ws/src/px4_ros_com/scripts# pwd
/home/ubuntu/projects/robot_ws/src/px4_ros_com/scripts
root@elcom:/home/ubuntu/projects/robot_ws/src/px4_ros_com/scripts# bash build_ros2_workspace.bash
Starting >>> micro_ros_msgs
[0.378s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/ubuntu/projects/robot_ws/install/micro_ros_setup' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.380s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/ubuntu/projects/robot_ws/install/micro_ros_setup' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> px4_msgs
Starting >>> drive_base_msgs
Finished <<< micro_ros_msgs [15.1s]
Starting >>> micro_ros_agent
Finished <<< drive_base_msgs [16.0s]
[Processing: micro_ros_agent, px4_msgs]
Finished <<< micro_ros_agent [35.8s]
[Processing: px4_msgs]
[Processing: px4_msgs]
[Processing: px4_msgs]
Finished <<< px4_msgs [2min 48s]
Starting >>> px4_ros_com
Finished <<< px4_ros_com [14.1s]

Summary: 5 packages finished [3min 2s]

ROS2 workspace ready...

5. micrortps_agent -t UDP - error

bash: /home/ubuntu/projects/robot_ws/install/micrortps_agent/bin/micrortps_agent: No such file or directory

5.a My Improvisation
cd robot_ws/src/
git clone https://github.com/PX4/micrortps_agent
cd robot_ws/
colon build
source install/setup.bash

micrortps_agent -t UDP - error**
--- MicroRTPS Agent ---
[ micrortps_agent ] Starting link...
[ micrortps_agent ] UDP transport: ip address: 127.0.0.1; recv port: 2020; send port: 2019
[ micrortps_transport ] UDP transport: Trying to connect...
[ micrortps_transport ] UDP transport: Connected to server!

--- Subscribers ---

• debug_array subscriber started
• debug_key_value subscriber started
• debug_value subscriber started
• debug_vect subscriber started
• offboard_control_mode subscriber started
• sensor_optical_flow subscriber started
• position_setpoint subscriber started
• position_setpoint_triplet subscriber started
• telemetry_status subscriber started
• timesync subscriber started
• vehicle_command subscriber started
• vehicle_local_position_setpoint subscriber started
• vehicle_attitude_setpoint subscriber started
• vehicle_rates_setpoint subscriber started
• trajectory_setpoint subscriber started
• vehicle_trajectory_waypoint subscriber started
• onboard_computer_status subscriber started
• trajectory_bezier subscriber started
• vehicle_trajectory_bezier subscriber started
• vehicle_mocap_odometry subscriber started
• vehicle_visual_odometry subscriber started

---

---- Publishers ----

• timesync publishers started
• trajectory_waypoint publisher started
• vehicle_control_mode publisher started
• vehicle_odometry publisher started
• vehicle_status publisher started
• collision_constraints publisher started
• timesync_status publisher started
• sensor_combined publisher started
• vehicle_trajectory_waypoint_desired publisher started

---

[ micrortps_agent ] Unexpected topic ID '16' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '16'
[ micrortps_agent ] Unexpected topic ID '27' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '27'
[ micrortps_agent ] Unexpected topic ID '16' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '16'
[ micrortps_agent ] Unexpected topic ID '27' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '27'
[ micrortps_agent ] Unexpected topic ID '27' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '27'

### 5.b thoughs
After adding micrortps_agent under /src/ and colcon build, the micrortps_agent works. Now, there's msg saying unexpected topic 16 and 27. It seems that the parser is not working properly with px4_msgs.

Based on the documentaion, I assumed it should have worked just by px4_ros_com.

6 ros2 launch px4_ros_com sensor_combined_listener.launch.py - error

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-11-09-20-58-49-644613-elcom-181454
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [micro_ros_agent udp4 --port 8888 -v -1]: process started with pid [181458]
[INFO] [sensor_combined_listener-2]: process started with pid [181460]
[micro_ros_agent udp4 --port 8888 -v -1] /bin/sh: 1: micro_ros_agent: not found
[ERROR] [micro_ros_agent udp4 --port 8888 -v -1]: process has died [pid 181458, exit code 127, cmd 'micro_ros_agent udp4 --port 8888 -v '].

6.amy improvisation
By following the documentation, it does not know the cmd, micro_ros_agent.

By, https://micro.ros.org/docs/tutorials/core/first_application_linux,

git clone https://github.com/micro-ROS/micro_ros_setup

colcon build and source install/setup.bash
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash

root@elcom:/home/ubuntu/projects/robot_ws# micro_ros_agent
bash: micro_ros_agent: command not found

ros2 run micro_ros_agent
usage: ros2 [-h] Call ros2 <command> -h for more detailed usage. ...
ros2: error: argument Call ros2 <command> -h for more detailed usage.: invalid choice: 'micro_ros_agent' (choose from 'action', 'bag', 'component', 'daemon', 'doctor', 'extension_points', 'extensions', 'interface', 'launch', 'lifecycle', 'multicast', 'node', 'param', 'pkg', 'run', 'security', 'service', 'topic', 'wtf')

ros2 run micro_ros_agent does not have option for UDP..

Conclusion
At my best understading, by following the doc, https://docs.px4.io/main/en/ros/ros2_comm.html#install-fast-dds,

micrortps_agent: command not found
micro_ros_agent: command not found

I wonder if this repo is supposed to install these two commands. - I'm pretty sure yes according to: https://dev.px4.io/v1.11_noredirect/en/middleware/micrortps.html,
"The px4_ros_com package, when built, generates everything needed to access PX4 uORB messages from a ROS2 node (for ROS you also need ros1_bridge). This includes all the required components of the PX4 RTPS bridge, including the micrortps_agent and the IDL files (required by the micrortps_agent)."

My guess is that the installation process does not output any error. I did source /install/setup.bash. Any advise where should I be looking into?

[zxh0916]

Same problem on step 5.

[ micrortps_agent ] Unexpected topic ID '16' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '16'
[ micrortps_agent ] Unexpected topic ID '27' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '27'
[ micrortps_agent ] Unexpected topic ID '16' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '16'
[ micrortps_agent ] Unexpected topic ID '27' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '27'
[ micrortps_agent ] Unexpected topic ID '27' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '27'

[laylow13]

thank you

[zxh0916]

thank you

Hi! I just solved the problem on step 5.
I'm using ubuntu 20.04 and ros2 Galactic.
I cloned PX4-Autopilot repo of version 1.13.1 by git clone -b v1.13.1 https://github.com/PX4/PX4-Autopilot.git --recursive
After cloned px4_ros_com and px4_msg, i switched branch by cd ~/px4_ros_com_ros2/src/px4_msgs && git checkout daee121 and cd ~/px4_ros_com_ros2/src/px4_ros_com && git checkout 7e25c34
Then i used the python script inside the PX4-Autopilot repo to convert the messages and the message list to overwrite the messages and list in px4_ros_com and px4_msg:
python ~/PX4-Autopilot/msg/tools/uorb_to_ros_msgs.py ~/PX4-Autopilot/msg/ ~/px4_ros_com_ros2/src/px4_msgs/msg/
then
python ~/PX4-Autopilot/msg/tools/uorb_to_ros_urtps_topics.py -i ~/PX4-Autopilot/msg/tools/urtps_bridge_topics.yaml -o ~/px4_ros_com_ros2/src/px4_ros_com/templates/urtps_bridge_topics.yaml
And rebuild the workspace by running cd ~/px4_ros_com_ros2/src/px4_ros_com/scripts/ and ./build_ros2_workspace.bash --verbose --no_ros1_bridge --ros_distro galactic --ros_path /opt/ros/galactic/setup.bash.
But the build still fails because the definition of message TrajectorySetpoint dose not met the requirement of script ~/px4_ros_com_ros2/src/px4_ros_com/src/examples/offboard/offboard_control.cpp.
So i modified the script around line 175 by comment msg.position = {0.0, 0.0, -5.0}; and replace it by msg.x = 0.0; msg.y = 0.0; msg.z = -5.0; and rebuilt the workspace.
Then all commands ran properly.
forgive my poor english :)