micro_ros_setup: MicroROS fails to create all publishers and subscribers and fails to initialise all rclc_timers

Dear @pablogs9 and microROS developers, Hello, this is Akash from India. I’m facing a problem while using the microROS ESP-IDF component. I’ve created a .cpp project that publishes to 7 topics and subscribes to 4 more, all serially. There are no build errors, however, when the serial agent is started on one terminal instance, I’ve observed that only the first 2 publishers and 2 subscribers are created, the remaining fail with a return code RCL_RET_ERROR. The created publishers are sending data correctly as expected. I’ve also increased the number (corresponding to the total pubs and subs) inside rclc_executor_init() function to be 11 (7 pubs 4 subs), but still no luck.

The main app.cpp file has ~500 lines of code, so I’ve attached a .zip of project file instead of pasting the entire code here: uvc_chiller_driver_node_idf.zip [Note: You may build and flash this project on an ESP32, but I’ve diverted the microROS serial via UART1 (Tx: GPIO_NUM_17, Rx: GPIO_NUM_16) while logger outputs via UART0]

The microROS task looks like this:

void TASK_microROS(void *args)
{
	// Galactic: Node with options...
	rcl_allocator_t allocator = rcl_get_default_allocator();
	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
	RCCHECK(rcl_init_options_init(&init_options, allocator));
	RCCHECK(rcl_init_options_set_domain_id(&init_options, ROS_DOMAIN_ID));

	// Initialize rclc support object with custom options
	rclc_support_t support;
	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

	// create node
	rcl_node_t node;
	RCCHECK(rclc_node_init_default(&node, "UVC_Node", "", &support));

	// create publishers
	printf("ret1:%d\t", rclc_publisher_init_default(&uvc_raw_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32MultiArray), "/uvc/uvc_raw"));
	printf("ret2:%d\t", rclc_publisher_init_default(&pressure_raw_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32MultiArray), "/uvc/pressure_raw"));
	printf("ret3:%d\t", rclc_publisher_init_default(&temperature_raw_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32MultiArray), "/uvc/temperature_raw"));
	printf("ret4:%d\t", rclc_publisher_init_default(&motion_sensor_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt8MultiArray), "/uvc/motion_raw"));
	printf("ret5:%d\t", rclc_publisher_init_default(&led_current_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32MultiArray), "/uvc/led_current"));
	printf("ret6:%d\t", rclc_publisher_init_default(&sensed_voltage_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32), "/uvc/sensed_voltage"));
	printf("ret7:%d\t", rclc_publisher_init_default(&flow_rate_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32), "/uvc/flow_rate"));
	printf("created publishers\n");
	// create subscribers
	printf("ret8:%d\t", rclc_subscription_init_default(&led_control_subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt8MultiArray), "/uvc/led_control"));
	printf("ret9:%d\t", rclc_subscription_init_default(&compressor_control_subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Bool), "/uvc/compressor_control"));
	printf("ret10:%d\t", rclc_subscription_init_default(&pump_control_subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Bool), "/uvc/pump_control"));
	printf("ret11:%d\t", rclc_subscription_init_default(&fan_control_subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Bool), "/uvc/fan_control"));
	printf("created subscribers\n");

	// create and initialize the timers for each publisher
	rcl_timer_t uvc_raw_publisher_timer;			RCCHECK(rclc_timer_init_default(&uvc_raw_publisher_timer, &support, RCL_MS_TO_NS(500), ROS2_Publisher_Callback_uvc_raw));					// 2 Hz
	rcl_timer_t pressure_raw_publisher_timer;		RCCHECK(rclc_timer_init_default(&pressure_raw_publisher_timer, &support, RCL_MS_TO_NS(200), ROS2_Publisher_Callback_pressure_raw));			// 5 Hz
	rcl_timer_t temperature_raw_publisher_timer;	RCCHECK(rclc_timer_init_default(&temperature_raw_publisher_timer, &support, RCL_MS_TO_NS(500), ROS2_Publisher_Callback_temperature_raw));	// 2 Hz
	rcl_timer_t flow_rate_publisher_timer;			RCCHECK(rclc_timer_init_default(&flow_rate_publisher_timer, &support, RCL_MS_TO_NS(500), ROS2_Publisher_Callback_flow_rate));				// 2 Hz
	rcl_timer_t motion_sensor_publisher_timer;		RCCHECK(rclc_timer_init_default(&motion_sensor_publisher_timer, &support, RCL_MS_TO_NS(200), ROS2_Publisher_Callback_motion_sensor));		// 5 Hz
	rcl_timer_t led_current_publisher_timer;		RCCHECK(rclc_timer_init_default(&led_current_publisher_timer, &support, RCL_MS_TO_NS(200), ROS2_Publisher_Callback_led_current));			// 5 Hz
	rcl_timer_t sensed_voltage_publisher_timer;		RCCHECK(rclc_timer_init_default(&sensed_voltage_publisher_timer, &support, RCL_MS_TO_NS(1000), ROS2_Publisher_Callback_sensed_voltage));	// 1 Hz

	// allocate storage space for incoming and outgoing messages (only for arrays)
	uvc_raw.data.capacity = 2;				uvc_raw.data.data = (float *)calloc(uvc_raw.data.capacity, sizeof(float));						uvc_raw.data.size = uvc_raw.data.capacity;
	pressure_raw.data.capacity = 1;			pressure_raw.data.data = (float *)calloc(pressure_raw.data.capacity, sizeof(float));			pressure_raw.data.size = pressure_raw.data.capacity;
	temperature_raw.data.capacity = 2;		temperature_raw.data.data = (float *)calloc(temperature_raw.data.capacity, sizeof(float));		temperature_raw.data.size = temperature_raw.data.capacity;
	motion_sensor.data.capacity = 4;		motion_sensor.data.data = (uint8_t *)calloc(motion_sensor.data.capacity, sizeof(uint8_t));		motion_sensor.data.size = motion_sensor.data.capacity;
	led_current.data.capacity = 4;			led_current.data.data = (float *)calloc(led_current.data.capacity, sizeof(float));				led_current.data.size = led_current.data.capacity;

	// create executor
	rclc_executor_t executor;
	RCCHECK(rclc_executor_init(&executor, &support.context, 11, &allocator)); // here there are 11 publishers and subscribers
	printf("created executor\n");
	RCCHECK(rclc_executor_add_timer(&executor, &uvc_raw_publisher_timer));
	RCCHECK(rclc_executor_add_timer(&executor, &pressure_raw_publisher_timer));
	RCCHECK(rclc_executor_add_timer(&executor, &temperature_raw_publisher_timer));
	RCCHECK(rclc_executor_add_timer(&executor, &motion_sensor_publisher_timer));
	RCCHECK(rclc_executor_add_timer(&executor, &led_current_publisher_timer));
	RCCHECK(rclc_executor_add_timer(&executor, &sensed_voltage_publisher_timer));
	RCCHECK(rclc_executor_add_timer(&executor, &flow_rate_publisher_timer));
	printf("added publishers\n");
	RCCHECK(rclc_executor_add_subscription(&executor, &led_control_subscriber, &led_control, &ROS2_Subscriber_Callback_led_control, ON_NEW_DATA));
	RCCHECK(rclc_executor_add_subscription(&executor, &compressor_control_subscriber, &compressor_control, &ROS2_Subscriber_Callback_compressor_control, ON_NEW_DATA));
	RCCHECK(rclc_executor_add_subscription(&executor, &pump_control_subscriber, &pump_control, &ROS2_Subscriber_Callback_pump_control, ON_NEW_DATA));
	RCCHECK(rclc_executor_add_subscription(&executor, &fan_control_subscriber, &fan_control, &ROS2_Subscriber_Callback_fan_control, ON_NEW_DATA));
	printf("added subscribers\n");

	while (1)
	{
		rclc_executor_spin_some(&executor, RCL_MS_TO_NS(1));
	}
	esp_restart();
}

Serial agent output:

Please help me!