~/Documentos/microros_ws$ ros2 run micro_ros_agent micro_ros_agent serial -v 6  --dev /dev/serial/by-id/usb-STMicroelectronics_STM32_STLink_066BFF323239524257215014-if02
[1673542618.315901] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1673542618.316406] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1673542620.971183] info     | Root.cpp           | create_client            | create                 | client_key: 0x5851F42D, session_id: 0x81
[1673542620.971265] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x5851F42D, address: 0
[1673542620.971371] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1673542620.993085] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 48, data: 
0000: 81 80 00 00 01 07 26 00 00 0A 00 01 01 03 00 00 18 00 00 00 00 01 00 00 10 00 00 00 64 65 6D 6F
0020: 5F 70 61 72 61 6D 5F 6E 6F 64 65 00 00 00 00 00
[1673542621.002847] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x5851F42D, participant_id: 0x000(1)
[1673542621.003082] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1673542621.003181] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1673542621.012719] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1673542621.041238] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 264, data: 
0000: 81 80 01 00 01 07 FD 00 00 0B 00 08 08 03 00 00 EF 00 00 00 20 00 00 00 2F 64 65 6D 6F 5F 70 61
0020: 72 61 6D 5F 6E 6F 64 65 2F 67 65 74 5F 70 61 72 61 6D 65 74 65 72 73 00 32 00 00 00 72 63 6C 5F
0040: 69 6E 74 65 72 66 61 63 65 73 3A 3A 73 72 76 3A 3A 64 64 73 5F 3A 3A 47 65 74 50 61 72 61 6D 65
0060: 74 65 72 73 5F 52 65 71 75 65 73 74 5F 00 00 00 33 00 00 00 72 63 6C 5F 69 6E 74 65 72 66 61 63
0080: 65 73 3A 3A 73 72 76 3A 3A 64 64 73 5F 3A 3A 47 65 74 50 61 72 61 6D 65 74 65 72 73 5F 52 65 73
00A0: 70 6F 6E 73 65 5F 00 01 29 00 00 00 72 71 2F 64 65 6D 6F 5F 70 61 72 61 6D 5F 6E 6F 64 65 2F 67
00C0: 65 74 5F 70 61 72 61 6D 65 74 65 72 73 52 65 71 75 65 73 74 00 01 00 20 27 00 00 00 72 72 2F 64
00E0: 65 6D 6F 5F 70 61 72 61 6D 5F 6E 6F 64 65 2F 67 65 74 5F 70 61 72 61 6D 65 74 65 72 73 52 65 70
0100: 6C 79 00 00 01 00 00 00
[1673542621.043936] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0x5851F42D, requester_id: 0x000(7), participant_id: 0x000(1)
[1673542621.044101] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 14, data: 
0000: 81 80 01 00 05 01 06 00 00 0B 00 08 00 00
[1673542621.044134] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1673542621.052443] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1673542621.063887] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 120, data: 
0000: 81 80 02 00 08 01 10 00 00 0C 00 08 80 00 00 01 FF FF 00 00 00 00 00 00 01 07 59 00 00 0D 00 02
0020: 02 03 00 00 4B 00 00 00 14 00 00 00 72 74 2F 70 61 72 61 6D 65 74 65 72 5F 65 76 65 6E 74 73 00
0040: 00 01 00 00 2B 00 00 00 72 63 6C 5F 69 6E 74 65 72 66 61 63 65 73 3A 3A 6D 73 67 3A 3A 64 64 73
0060: 5F 3A 3A 50 61 72 61 6D 65 74 65 72 45 76 65 6E 74 5F 00 00 01 00 00 00
[1673542621.064300] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x5851F42D, topic_id: 0x000(2), participant_id: 0x000(1)
[1673542621.064367] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 14, data: 
0000: 81 80 02 00 05 01 06 00 00 0D 00 02 00 00
[1673542621.064389] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1673542621.071835] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1673542621.074193] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 24, data: 
0000: 81 80 03 00 01 07 10 00 00 0E 00 03 03 03 00 00 02 00 00 00 00 00 00 01
[1673542621.075330] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x5851F42D, publisher_id: 0x000(3), participant_id: 0x000(1)
[1673542621.075635] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 14, data: 
0000: 81 80 03 00 05 01 06 00 00 0E 00 03 00 00
[1673542621.075699] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1673542621.082700] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1673542621.087422] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 36, data: 
0000: 81 80 04 00 01 07 1C 00 00 0F 00 05 05 03 00 00 0E 00 00 00 00 02 01 00 03 00 01 00 E8 03 00 00
0020: 00 00 00 03
[1673542621.087913] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x5851F42D, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1673542621.087973] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 14, data: 
0000: 81 80 04 00 05 01 06 00 00 0F 00 05 00 00
[1673542621.087997] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1673542621.094780] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1673542621.109112] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 112, data: 
0000: 81 80 05 00 07 01 68 00 00 10 00 05 00 00 00 00 40 62 B0 07 10 00 00 00 64 65 6D 6F 5F 70 61 72
0020: 61 6D 5F 6E 6F 64 65 00 01 00 00 00 07 00 00 00 70 61 72 61 6D 31 00 01 00 00 00 00 00 00 00 00
0040: 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 64 64 73 00 00 00 00 00 00 00 00 00 00 00 00
0060: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[1673542621.109374] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 100, data: 
0000: 00 00 00 00 40 62 B0 07 10 00 00 00 64 65 6D 6F 5F 70 61 72 61 6D 5F 6E 6F 64 65 00 01 00 00 00
0020: 07 00 00 00 70 61 72 61 6D 31 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0040: 01 00 00 00 00 64 64 73 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0060: 00 00 00 00
[1673542621.109457] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1673542621.125661] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 112, data: 
0000: 81 80 06 00 07 01 68 00 00 11 00 05 00 00 00 00 00 4D D2 08 10 00 00 00 64 65 6D 6F 5F 70 61 72
0020: 61 6D 5F 6E 6F 64 65 00 01 00 00 00 07 00 00 00 70 61 72 61 6D 32 00 02 00 65 76 65 00 00 00 00
0040: 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 66 61 63 00 00 00 00 00 00 00 00 00 00 00 00
0060: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[1673542621.125815] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 100, data: 
0000: 00 00 00 00 00 4D D2 08 10 00 00 00 64 65 6D 6F 5F 70 61 72 61 6D 5F 6E 6F 64 65 00 01 00 00 00
0020: 07 00 00 00 70 61 72 61 6D 32 00 02 00 65 76 65 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0040: 01 00 00 00 00 66 61 63 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0060: 00 00 00 00
[1673542621.125935] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1673542621.143123] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x5851F42D, len: 112, data: 
0000: 81 80 07 00 07 01 68 00 00 12 00 05 00 00 00 00 40 B3 D5 09 10 00 00 00 64 65 6D 6F 5F 70 61 72
0020: 61 6D 5F 6E 6F 64 65 00 01 00 00 00 07 00 00 00 70 61 72 61 6D 33 00 03 00 00 00 00 00 00 00 00
0040: 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0060: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[1673542621.143213] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 100, data: 
0000: 00 00 00 00 40 B3 D5 09 10 00 00 00 64 65 6D 6F 5F 70 61 72 61 6D 5F 6E 6F 64 65 00 01 00 00 00
0020: 07 00 00 00 70 61 72 61 6D 33 00 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0040: 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0060: 00 00 00 00
[1673542621.143356] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x5851F42D, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80