Comments (3)
szc188
commented on June 15, 2024
PublishHelloWorld
➜ PublishHelloWorld git:(master) ./PublishHelloWorldClient localhost 2018
Send topic: Hello DDS world!, id: 1
Send topic: Hello DDS world!, id: 2
Send topic: Hello DDS world!, id: 3
Send topic: Hello DDS world!, id: 4
Send topic: Hello DDS world!, id: 5
Send topic: Hello DDS world!, id: 6
Send topic: Hello DDS world!, id: 7
Send topic: Hello DDS world!, id: 8
Send topic: Hello DDS world!, id: 9
Send topic: Hello DDS world!, id: 10
^C
SubscribeHelloWorld
➜ SubscribeHelloWorld git:(master) ./SubscribeHelloWorldClient localhost 2018
Received topic: Hello DDS world!, id: 2
Received topic: Hello DDS world!, id: 3
Received topic: Hello DDS world!, id: 4
Received topic: Hello DDS world!, id: 5
Received topic: Hello DDS world!, id: 6
Received topic: Hello DDS world!, id: 7
Received topic: Hello DDS world!, id: 8
Received topic: Hello DDS world!, id: 9
Received topic: Hello DDS world!, id: 10
Agent
➜ build git:(d444f99) ls
agent.refs CMakeCache.txt cmake_install.cmake libmicroxrcedds_agent.so libmicroxrcedds_agent.so.1.4.0 MicroXRCEAgent uagent-prefix
cmake CMakeFiles include libmicroxrcedds_agent.so.1.4 Makefile sanitizers
➜ build git:(d444f99) ./MicroXRCEAgent udp4 -p 2018 -v 6
Press CTRL+C to exit
[1591152618.106063] info | UDPv4AgentLinux.cpp | init | running... | port: 2018
[1591152618.106205] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6
[1591152682.800038] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x00000000, len: 24, data:
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F CC CC DD DD 81 00 FC 01
[1591152682.800241] info | Root.cpp | create_client | create | client_key: 0xCCCCDDDD, session_id: 0x81
[1591152682.800300] info | SessionManager.hpp | establish_session | session established | client_key: 0x3435978205, address: 127.0.0.1:60117
[1591152682.800373] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 19, data:
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1591152682.800475] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 388, data:
0000: 81 80 00 00 01 05 68 00 00 0A 00 11 01 02 00 00 59 00 00 00 3C 64 64 73 3E 3C 70 61 72 74 69 63
0020: 69 70 61 6E 74 3E 3C 72 74 70 73 3E 3C 6E 61 6D 65 3E 64 65 66 61 75 6C 74 5F 78 72 63 65 5F 70
0040: 61 72 74 69 63 69 70 61 6E 74 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63
0060: 69 70 61 6E 74 3E 3C 2F 64 64 73 3E 00 00 00 00 01 05 64 00 00 0B 00 12 02 02 00 00 56 00 00 00
0080: 3C 64 64 73 3E 3C 74 6F 70 69 63 3E 3C 6E 61 6D 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 54 6F 70 69
00A0: 63 3C 2F 6E 61 6D 65 3E 3C 64 61 74 61 54 79 70 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 3C 2F 64 61
00C0: 74 61 54 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 64 73 3E 00 00 11 01 05 0F 00 00 0C 00 14
00E0: 04 02 00 00 01 00 00 00 00 00 11 00 01 05 92 00 00 0D 00 16 06 02 00 00 84 00 00 00 3C 64 64 73
0100: 3E 3C 64 61 74 61 5F 72 65 61 64 65 72 3E 3C 74 6F 70 69 63 3E 3C 6B 69 6E 64 3E 4E 4F 5F 4B 45
0120: 59 3C 2F 6B 69 6E 64 3E 3C 6E 61 6D 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 54 6F 70 69 63 3C 2F 6E
0140: 61 6D 65 3E 3C 64 61 74 61 54 79 70 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 3C 2F 64 61 74 61 54 79
0160: 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 61 74 61 5F 72 65 61 64 65 72 3E 3C 2F 64 64 73 3E 00
0180: 00 14 00 00
[1591152682.801599] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1591152682.802576] debug | ProxyClient.cpp | create_participant | participant created | client_key: 0xCCCCDDDD, participant_id: 0x001(1)
[1591152682.802687] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 14, data:
0000: 81 80 00 00 05 01 06 00 00 0A 00 11 00 00
[1591152682.802760] debug | ProxyClient.cpp | create_topic | topic created | client_key: 0xCCCCDDDD, topic_id: 0x001(2), participant_id: 0x001(1)
[1591152682.802784] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 14, data:
0000: 81 80 01 00 05 01 06 00 00 0B 00 12 00 00
[1591152682.802812] debug | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0xCCCCDDDD, subscriber_id: 0x001(4), participant_id: 0x001(1)
[1591152682.802843] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1591152682.802857] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1591152682.802880] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 14, data:
0000: 81 80 02 00 05 01 06 00 00 0C 00 14 00 00
[1591152682.802895] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1591152682.803955] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1591152682.803959] debug | ProxyClient.cpp | create_datareader | datareader created | client_key: 0xCCCCDDDD, datareader_id: 0x001(6), subscriber_id: 0x001(4)
[1591152682.804039] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 14, data:
0000: 81 80 03 00 05 01 06 00 00 0D 00 16 00 00
[1591152682.804052] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1591152682.804064] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1591152682.804108] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1591152682.804119] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 24, data:
0000: 81 80 01 00 08 01 10 00 00 0E 00 16 80 00 00 01 FF FF 00 00 00 00 00 00
[1591152682.804159] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1591152682.804262] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1591152710.058240] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x00000000, len: 24, data:
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F AA AA BB BB 81 00 FC 01
[1591152710.058349] info | Root.cpp | create_client | create | client_key: 0xAAAABBBB, session_id: 0x81
[1591152710.058388] info | SessionManager.hpp | establish_session | session established | client_key: 0x2863315899, address: 127.0.0.1:35034
[1591152710.058460] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 19, data:
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1591152710.058612] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 388, data:
0000: 81 80 00 00 01 05 68 00 00 0A 00 11 01 02 00 00 59 00 00 00 3C 64 64 73 3E 3C 70 61 72 74 69 63
0020: 69 70 61 6E 74 3E 3C 72 74 70 73 3E 3C 6E 61 6D 65 3E 64 65 66 61 75 6C 74 5F 78 72 63 65 5F 70
0040: 61 72 74 69 63 69 70 61 6E 74 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63
0060: 69 70 61 6E 74 3E 3C 2F 64 64 73 3E 00 00 00 00 01 05 64 00 00 0B 00 12 02 02 00 00 56 00 00 00
0080: 3C 64 64 73 3E 3C 74 6F 70 69 63 3E 3C 6E 61 6D 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 54 6F 70 69
00A0: 63 3C 2F 6E 61 6D 65 3E 3C 64 61 74 61 54 79 70 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 3C 2F 64 61
00C0: 74 61 54 79 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 64 73 3E 00 00 11 01 05 0F 00 00 0C 00 13
00E0: 03 02 00 00 01 00 00 00 00 00 11 00 01 05 92 00 00 0D 00 15 05 02 00 00 84 00 00 00 3C 64 64 73
0100: 3E 3C 64 61 74 61 5F 77 72 69 74 65 72 3E 3C 74 6F 70 69 63 3E 3C 6B 69 6E 64 3E 4E 4F 5F 4B 45
0120: 59 3C 2F 6B 69 6E 64 3E 3C 6E 61 6D 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 54 6F 70 69 63 3C 2F 6E
0140: 61 6D 65 3E 3C 64 61 74 61 54 79 70 65 3E 48 65 6C 6C 6F 57 6F 72 6C 64 3C 2F 64 61 74 61 54 79
0160: 70 65 3E 3C 2F 74 6F 70 69 63 3E 3C 2F 64 61 74 61 5F 77 72 69 74 65 72 3E 3C 2F 64 64 73 3E 00
0180: 00 13 00 00
[1591152710.059734] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1591152710.061349] debug | ProxyClient.cpp | create_participant | participant created | client_key: 0xAAAABBBB, participant_id: 0x001(1)
[1591152710.061489] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1591152710.061500] debug | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x001(2), participant_id: 0x001(1)
[1591152710.061533] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 14, data:
0000: 81 80 00 00 05 01 06 00 00 0A 00 11 00 00
[1591152710.061525] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[1591152710.061600] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 14, data:
0000: 81 80 01 00 05 01 06 00 00 0B 00 12 00 00
[1591152710.061619] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1591152710.061633] debug | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x001(3), participant_id: 0x001(1)
[1591152710.061772] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 14, data:
0000: 81 80 02 00 05 01 06 00 00 0C 00 13 00 00
[1591152710.061786] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1591152710.061917] debug | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1591152710.062022] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 14, data:
0000: 81 80 03 00 05 01 06 00 00 0D 00 15 00 00
[1591152710.062048] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1591152710.062062] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1591152710.062075] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1591152710.062171] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1591152710.062205] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 01 00 07 01 1D 00 00 0E 00 15 01 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 00 00 00
[1591152710.062283] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 01 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152710.062361] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1591152711.063355] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 02 00 07 01 1D 00 00 0F 00 15 02 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 00 00 00
[1591152711.063535] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 02 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152711.063625] debug | DataReader.cpp | read_fn | [==>> DDS <<==] | client_key: 0x00000001, len: 25, data:
0000: 02 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152711.063653] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1591152711.063687] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 37, data:
0000: 81 80 04 00 09 01 1D 00 00 0E 00 16 02 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00
[1591152711.063814] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1591152712.063989] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 03 00 07 01 1D 00 00 10 00 15 03 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 00 00 00
[1591152712.064114] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 03 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152712.064161] debug | DataReader.cpp | read_fn | [==>> DDS <<==] | client_key: 0x00000001, len: 25, data:
0000: 03 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152712.064214] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 04 00 00 00 80
[1591152712.064257] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 37, data:
0000: 81 80 05 00 09 01 1D 00 00 0E 00 16 03 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00
[1591152712.064385] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1591152713.065259] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 04 00 07 01 1D 00 00 11 00 15 04 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 00 00 00
[1591152713.065426] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 04 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152713.065479] debug | DataReader.cpp | read_fn | [==>> DDS <<==] | client_key: 0x00000001, len: 25, data:
0000: 04 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152713.065563] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 05 00 00 00 80
[1591152713.065605] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 37, data:
0000: 81 80 06 00 09 01 1D 00 00 0E 00 16 04 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00
[1591152713.065732] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1591152714.066789] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 05 00 07 01 1D 00 00 12 00 15 05 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 00 00 00
[1591152714.066906] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 05 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152714.066949] debug | DataReader.cpp | read_fn | [==>> DDS <<==] | client_key: 0x00000001, len: 25, data:
0000: 05 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152714.067011] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 06 00 00 00 80
[1591152714.067043] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 37, data:
0000: 81 80 07 00 09 01 1D 00 00 0E 00 16 05 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00
[1591152714.067203] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1591152715.068189] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 06 00 07 01 1D 00 00 13 00 15 06 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 00 00 00
[1591152715.068321] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 06 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152715.068377] debug | DataReader.cpp | read_fn | [==>> DDS <<==] | client_key: 0x00000001, len: 25, data:
0000: 06 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152715.068416] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1591152715.068455] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 37, data:
0000: 81 80 08 00 09 01 1D 00 00 0E 00 16 06 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00
[1591152715.068582] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 09 00 00 00 80
[1591152716.069409] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 07 00 07 01 1D 00 00 14 00 15 07 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 00 00 00
[1591152716.069678] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 07 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152716.069704] debug | DataReader.cpp | read_fn | [==>> DDS <<==] | client_key: 0x00000001, len: 25, data:
0000: 07 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152716.069855] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1591152716.069901] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 37, data:
0000: 81 80 09 00 09 01 1D 00 00 0E 00 16 07 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00
[1591152716.070089] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 0A 00 00 00 80
[1591152717.071119] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 08 00 07 01 1D 00 00 15 00 15 08 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 3E 3C 72
[1591152717.071267] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 08 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152717.071319] debug | DataReader.cpp | read_fn | [==>> DDS <<==] | client_key: 0x00000001, len: 25, data:
0000: 08 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152717.071380] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 09 00 00 00 80
[1591152717.071420] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 37, data:
0000: 81 80 0A 00 09 01 1D 00 00 0E 00 16 08 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00
[1591152717.071550] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 0B 00 00 00 80
[1591152718.072573] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 09 00 07 01 1D 00 00 16 00 15 09 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 00 00 00
[1591152718.072718] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 09 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152718.072777] debug | DataReader.cpp | read_fn | [==>> DDS <<==] | client_key: 0x00000001, len: 25, data:
0000: 09 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152718.072826] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 0A 00 00 00 80
[1591152718.072861] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 37, data:
0000: 81 80 0B 00 09 01 1D 00 00 0E 00 16 09 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00
[1591152718.072979] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 0C 00 00 00 80
[1591152719.073291] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xAAAABBBB, len: 40, data:
0000: 81 80 0A 00 07 01 1D 00 00 17 00 15 0A 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00 00 00 00
[1591152719.073455] debug | DataWriter.cpp | write | [** <<DDS>> **] | client_key: 0x00000001, len: 25, data:
0000: 0A 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152719.073508] debug | DataReader.cpp | read_fn | [==>> DDS <<==] | client_key: 0x00000001, len: 25, data:
0000: 0A 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F 72 6C 64 21 00
[1591152719.073585] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xAAAABBBB, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 0B 00 00 00 80
[1591152719.073631] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0xCCCCDDDD, len: 37, data:
0000: 81 80 0C 00 09 01 1D 00 00 0E 00 16 0A 00 00 00 11 00 00 00 48 65 6C 6C 6F 20 44 44 53 20 77 6F
0020: 72 6C 64 21 00
[1591152719.073792] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0xCCCCDDDD, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 0D 00 00 00 80
from micro-xrce-dds-client.
pablogs9
commented on June 15, 2024
Hello @szc188, name mangling in Micro-XRCE-DDS is not compatible with ROS2 by default. Please read this.
You should be careful of topic and types names, for example a publisher of 32 bits integer in Micro XRCE-DDS that is compatible with ROS2 looks like (in the XML approach):
<data_writer profile_name="weather_station/temperature__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>RELIABLE</kind>
</reliability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/weather_station/temperature</name>
<dataType>std_msgs::msg::dds_::Float32_</dataType>
</topic>
</data_writer>
If you want to be compatible by default, you can check micro-ROS, a ROS 2 port for embedded systems that uses Micro XRCE-DDS as the default middleware layer.
from micro-xrce-dds-client.
szc188
commented on June 15, 2024
Hi @pablogs9
Thank you.
It is good working!
from micro-xrce-dds-client.
Related Issues (20)
- Miss the 1st one HOT 7
- Getting dlfcn.h file not found build error when Shared Memory Enabled HOT 6
- Shared Memory feature with Multiple Publishers and Subscribers within MCU is not working with Micro-XRCE-DDS-Client HOT 12
- How to create a shared memory example single session with multiple topics for pulishers and subscriber HOT 1
- SharedMemoryReqResp example not working on ESP32 Getting Assert Exception during test with freeRTOS HOT 1
- Doc Bug: Enabling BUILD_DOCUMENTATION results in Doxygen Error HOT 4
- Block bug: uxr_millis() returning 0 causes block in wait_session_status
- Agent Discovery
- Is there a direct way to communicate XRCE requesters and repliers and ROS-2 node via Micro-ROS agent HOT 6
- How to reconnect Agent? HOT 1
- Mutex not being released as expected HOT 7
- How to use SHM HOT 1
- Reconnect to Agent HOT 2
- UXR_CONFIG_CAN_TRANSPORT_MTU is not in defined by CMake HOT 5
- Multiple Clients cannot connect to same CAN Agent HOT 7
- client on MCU create session failed HOT 8
- Topic published from MCU client cannot be echoed by ROS2 HOT 4
- MicroRos fails in ra8m1 due to uxr_create_session HOT 3
- Time sync issue with uxr_sync_session() HOT 7
- how to create different topic in same thead HOT 1
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