micro_ros_setup: Service call causes all communication to stop

Issue template

Hardware description: STM32F7
RTOS: FreeRTOS
Installation type: static lib
Version or commit hash: foxy

When running my client-agent communication I see the connection starting as expected. I have a few topics (in and out), different nodes, and a service on my client.

I see there’s some constant traffic on the agent (I guess the odometry if it’s coming from the client. The first call to the service works just flawlessly (from a caller’s point of view), however, I can see that after I get the response, the traffic on the agent stops.

The next time I try to call the service, it sends the message (I don’t see it arriving on my uc), and then, as it gets no response, the agent keeps spamming. causing that it fills all the buffers on my board and I quickly get

Network buffers: 49 lowest 49
Network buffers: 47 lowest 47
Network buffers: 46 lowest 46
Network buffers: 46 lowest 45
Network buffers: 44 lowest 44
Network buffers: 43 lowest 43
Network buffers: 43 lowest 42
Network buffers: 41 lowest 41
Network buffers: 41 lowest 40
Network buffers: 39 lowest 39
xProcessReceivedUDPPacket: buffer full 16 >= 16 port 13609
xProcessReceivedUDPPacket: buffer full 16 >= 16 port 13609

Here’s the output from the agent running with -v6

[1620981205.811399] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x4C4E3596, len: 360, data: 
0000: 81 01 3E 04 07 01 60 01 04 58 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0020: 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 00
0040: 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 00
0060: 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 00
0080: 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 00
00A0: 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 00
00C0: 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 00
00E0: 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 00
0100: 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 00
0120: 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 00
0140: 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 00
0160: 00 00 00 00 00 00 00 00
[1620981205.811485] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 348, data: 
0000: 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 00
0020: 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 00
0040: 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 00
0060: 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 00
0080: 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 00
00A0: 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 00
00C0: 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 00
00E0: 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 00
0100: 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 00
0120: 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 00
0140: 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
[1620981205.911372] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x4C4E3596, len: 360, data: 
0000: 81 01 3F 04 07 01 60 01 04 59 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0020: 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 00
0040: 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 00
0060: 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 00
0080: 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 00
00A0: 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 00
00C0: 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 00
00E0: 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 00
0100: 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 00
0120: 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 00
0140: 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 00
0160: 00 00 00 00 00 00 00 00
[1620981205.911458] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 348, data: 
0000: 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 00
0020: 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 00
0040: 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 00
0060: 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 00
0080: 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 00
00A0: 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 00
00C0: 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 00
00E0: 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 00
0100: 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 00
0120: 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 00
0140: 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
[1620981206.004025] debug    | Replier.cpp        | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000000, len: 28, data: 
0000: 01 0F A0 A9 70 00 00 00 01 00 00 00 00 00 12 03 00 00 00 00 01 00 00 00 06 04 00 00
[1620981206.004112] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x4C4E3596, len: 40, data: 
0000: 81 80 0D 00 09 01 20 00 00 14 00 08 01 0F A0 A9 70 00 00 00 01 00 00 00 00 00 12 03 00 00 00 00
0020: 01 00 00 00 06 04 00 00
[1620981206.005149] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x4C4E3596, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 0E 00 00 00 80
[1620981206.011280] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x4C4E3596, len: 360, data: 
0000: 81 01 40 04 07 01 60 01 04 5A 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0020: 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 00
0040: 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 00
0060: 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 00
0080: 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 00
00A0: 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 00
00C0: 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 00
00E0: 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 00
0100: 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 00
0120: 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 00
0140: 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 00
0160: 00 00 00 00 00 00 00 00
[1620981206.011333] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 348, data: 
0000: 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 00
0020: 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 00
0040: 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 00
0060: 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 00
0080: 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 00
00A0: 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 00
00C0: 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 00
00E0: 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 00
0100: 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 00
0120: 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 00
0140: 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
[1620981206.111220] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x4C4E3596, len: 360, data: 
0000: 81 01 41 04 07 01 60 01 04 5C 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0020: 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 00
0040: 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 00
0060: 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 00
0080: 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 00
00A0: 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 00
00C0: 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 00
00E0: 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 00
0100: 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 00
0120: 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 00
0140: 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 00
0160: 00 00 00 00 00 00 00 00
[1620981206.111326] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x4C4E3596, len: 40, data: 
0000: 81 80 10 00 07 01 20 00 04 5B 00 08 01 0F A0 A9 70 00 00 00 01 00 00 00 00 00 12 03 00 00 00 00
0020: 01 00 00 00 40 AE 01 20
[1620981206.111464] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 348, data: 
0000: 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 00
0020: 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 00
0040: 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 00
0060: 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 00
0080: 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 00
00A0: 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 00
00C0: 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 00
00E0: 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 00
0100: 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 00
0120: 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 00
0140: 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
[1620981206.111762] debug    | Replier.cpp        | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 28, data: 
0000: 01 0F A0 A9 70 00 00 00 01 00 00 00 00 00 12 03 00 00 00 00 01 00 00 00 40 AE 01 20
[1620981206.111911] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x4C4E3596, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 11 00 00 00 80
[1620981224.153834] debug    | Replier.cpp        | read_fn                  | [==>> DDS <<==]        | client_key: 0x00000000, len: 28, data: 
0000: 01 0F A0 A9 84 00 00 00 01 00 00 00 00 00 12 03 00 00 00 00 01 00 00 00 06 04 00 00
[1620981224.153892] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x4C4E3596, len: 40, data: 
0000: 81 80 0E 00 09 01 20 00 00 14 00 08 01 0F A0 A9 84 00 00 00 01 00 00 00 00 00 12 03 00 00 00 00
0020: 01 00 00 00 06 04 00 00
[1620981224.354067] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x4C4E3596, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 0E 00 0E 00 80
[1620981224.554239] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x4C4E3596, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 0E 00 0E 00 80
[1620981224.754367] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x4C4E3596, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 0E 00 0E 00 80
[1620981224.954517] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x4C4E3596, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 0E 00 0E 00 80

The last message is repeated until I get the error on my board.

About this issue

Original URL
State: closed
Created 3 years ago
Comments: 39 (18 by maintainers)

Most upvoted comments

Unfortunately, I can’t have a single thread creating all the entities (it would take too much re-writing), but I can make sure they’re run sequentially when being created.

On the other hand! I must have now rolled back to the previous version of the library I had built because I noticed I didn’t have that line of code. I now updated it and AFAIK (with the little test I have done), it does indeed work. So, that bug was definitely part of the issue.

bjv-capra on May 19, 2021

I’m going to make some tests, back in a while.

pablogs9 on May 18, 2021