ros2 / freertps Goto Github PK
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License: Apache License 2.0
a free, portable, minimalist, work-in-progress RTPS implementation
License: Apache License 2.0
have not looked into this further yet (and this is running on OS X with some of the WIP code from #24), but i have observed the following:
frudp publish 136 bytes, seq num 0:1
couldn't find a matched reader for this DATA:
2c2f0123:456789ab:99460000:000004c2
available readers:
writer = 00000000:00000000:00000000:00000000 => 000100c7
adding reader due to heartbeat RX
adding endpoints for 2c2f0123:456789ab:99460000
found reader already; skipping duplicate add
no SEDP pub data to send to new participant
couldn't find a matched reader for this DATA:
2c2f0123:456789ab:99460000:00000103
available readers:
writer = 00000000:00000000:00000000:00000000 => 000100c7
writer = 2c2f0123:456789ab:99460000:000004c2 => 000004c7
writer = 2c2f0123:456789ab:99460000:000003c2 => 000003c7
couldn't find a matched reader for this DATA:
2c2f0123:456789ab:99460000:00000103
available readers:
writer = 00000000:00000000:00000000:00000000 => 000100c7
writer = 2c2f0123:456789ab:99460000:000004c2 => 000004c7
writer = 2c2f0123:456789ab:99460000:000003c2 => 000003c7
couldn't find a matched reader for this DATA:
2c2f0123:456789ab:99460000:00000103
available readers:
writer = 00000000:00000000:00000000:00000000 => 000100c7
writer = 2c2f0123:456789ab:99460000:000004c2 => 000004c7
writer = 2c2f0123:456789ab:99460000:000003c2 => 000003c7
couldn't find a matched reader for this DATA:
2c2f0123:456789ab:99460000:00000103
available readers:
writer = 00000000:00000000:00000000:00000000 => 000100c7
writer = 2c2f0123:456789ab:99460000:000004c2 => 000004c7
writer = 2c2f0123:456789ab:99460000:000003c2 => 000003c7
and continues to print that pattern as long as the talker is sending.
Hello. I'm sorry, because this issue is little off-topic, but you know RTPS spec.
We are working on next generation of UAV telemetry protocol, so i would like to know does RTPS are good solution on low bandwidth connections (~5 KiB/s - for common modems)?
Also that task require serial transport, but you are already planned it.
Idea:
make test
Ideally, this could be done in a non-ament way, but will still be automated on Jenkins.
make doen't work
error is below
make[3]: *** 'apps/talker_no_rosidl/talker_no_rosidl.bin'에서 필요한 'apps/talker_no_rosidl/talker_no_rosidl.elf' 타겟을 만들 규칙이 없습니다. 멈춤.
CMakeFiles/Makefile2:291: 'apps/talker_no_rosidl/CMakeFiles/talker_no_rosidl_bin.dir/all' 타겟에 대한 명령이 실패했습니다
make[2]: *** [apps/talker_no_rosidl/CMakeFiles/talker_no_rosidl_bin.dir/all] 오류 2
Makefile:83: 'all' 타겟에 대한 명령이 실패했습니다
make[1]: *** [all] 오류 2
Makefile:21: 'stm32f7_disco-metal' 타겟에 대한 명령이 실패했습니다
make: *** [stm32f7_disco-metal] 오류 2
Acceptance Criteria:
implement rmw interface to freertps
Just watched the presentation from ROSCon 2015 Hamburg, which mention TTL UART is a future goal. What about i2c? That seems like a good target as most MCUs have onboard i2c and it is a great solution for multi-node systems (RS485, also mentioned, is great but less abundant in non-automation situations.)
Following the guide, I download ros2 source code, and build whole ros2 successfully. However, when I download freertps to src/ros2/freertps, trigger build as below
$ament build src/ros2/freertps
+++ Building 'freertps'
Running cmake because arguments have changed.
==> '. /home/jwang/ros2_ws/build/freertps/cmake__build.sh && /usr/bin/cmake /home/jwang/ros2_ws/src/ros2/freertps -DBUILD_TESTING=0 -DCMAKE_INSTALL_PREFIX=/home/jwang/ros2_ws/install' in '/home/jwang/ros2_ws/build/freertps'
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found ament_cmake: 0.0.3 (/home/jwang/ros2_ws/install/share/ament_cmake/cmake)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.5.2", minimum required is "3")
CMake Warning (dev) at /home/jwang/ros2_ws/install/share/ament_cmake_core/cmake/core/list_append_unique.cmake:30 (if):
Policy CMP0057 is not set: Support new IN_LIST if() operator. Run "cmake
--help-policy CMP0057" for policy details. Use the cmake_policy command to
set the policy and suppress this warning.
IN_LIST will be interpreted as an operator when the policy is set to NEW.
Since the policy is not set the OLD behavior will be used.
Call Stack (most recent call first):
/home/jwang/ros2_ws/install/share/ament_cmake_export_include_directories/cmake/ament_export_include_directories.cmake:41 (list_append_unique)
CMakeLists.txt:12 (ament_export_include_directories)
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Error at /home/jwang/ros2_ws/install/share/ament_cmake_core/cmake/core/list_append_unique.cmake:30 (if):
if given arguments:
"NOT" "element" "IN_LIST" "_AMENT_EXPORT_RELATIVE_INCLUDE_DIRECTORIES"
Unknown arguments specified
Call Stack (most recent call first):
/home/jwang/ros2_ws/install/share/ament_cmake_export_include_directories/cmake/ament_export_include_directories.cmake:41 (list_append_unique)
CMakeLists.txt:12 (ament_export_include_directories)
prototype small, cheap ros2 demo platform
need to refactor stm32 support libraries and build system for multiple boards, such as stm32f4-discovery
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