Unable to see any nodes after running micro ros tests

[Mark Barton]

Ubuntu 24.04.3
ROS2 Jazzy
PI5 Controller
PICO motor controller
Robot 2wd, Slamtec C1 Lidar, no depth camera

I am trying to test uRos agent and linorobot hw firmware and I am not seeing any nodes after startimg the micro ros agent/

This test is from https://github.com/hippo5329/linorobot2_hardware/wiki.

cd linorobot2_hardware/firmware
pio run -e pico -t upload
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

 ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

[1758716056.318309] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 10
[1758716056.318629] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1758716056.512380] info     | Root.cpp           | create_client            | create                 | client_key: 0x68350D93, session_id: 0x81
[1758716056.512424] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x68350D93, address: 0
[1758716056.528084] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x68350D93, participant_id: 0x000(1)
[1758716056.531530] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x68350D93, topic_id: 0x000(2), participant_id: 0x000(1)
[1758716056.534481] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x68350D93, publisher_id: 0x000(3), participant_id: 0x000(1)
[1758716056.537674] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x68350D93, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1758716056.541557] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x68350D93, topic_id: 0x001(2), participant_id: 0x000(1)
[1758716056.544373] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x68350D93, publisher_id: 0x001(3), participant_id: 0x000(1)
[1758716056.547721] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x68350D93, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1758716056.551495] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x68350D93, topic_id: 0x002(2), participant_id: 0x000(1)
[1758716056.554385] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x68350D93, publisher_id: 0x002(3), participant_id: 0x000(1)
[1758716056.557691] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x68350D93, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[1758716056.561499] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x68350D93, topic_id: 0x003(2), participant_id: 0x000(1)
[1758716056.564406] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x68350D93, subscriber_id: 0x000(4), participant_id: 0x000(1)
[1758716056.568046] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x68350D93, datareader_id: 0x000(6), subscriber_id: 0x000(4)

The PICO on board LED is on after starting the  micro ros agent. Also I have successfully ran both the motor and sensor test so I know the PICO is wired correctly

My next step is to tack on a serial connection to the PICO and see if I can make sense of what's going on. Any troubleshooting hints is greatly appreciated.

Mark

[Chuck Illingworth]

Check the ROS_DOMAIN_ID

Chuck 

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[Paul Bouchier]

Hi Mark,

Assuming you've got ROS_DOMAIN_ID set to 0, make sure you're running ros2 node list and ros2 topic list on the Pi5 that's running the agent. DDS issues can mess you up if you try running those commands on your PC, because, unlike ROS1,  DDS may not be working across the network. 

If that still doesn't work, go back to one stage simpler and follow the instructions in this wiki:

https://github.com/hippo5329/micro_ros_arduino_examples_platformio/wiki

Specifically, test the micro_ros_reconnection_example, which publishes an incrementing integer on a topic. It's about as close to unmodified micro-ros and agent as you can get.

As an FYI, the repo with the wiki you're following,

https://github.com/hippo5329/linorobot2_hardware

has a discussions tab where you can have longer back-and-forth troubleshooting discussions.

Paul

To view this discussion visit https://groups.google.com/d/msgid/linorobot/CAAVHW%2B%3D4FFdnxpfu98rbr%3DhQWGV8fQ34pExNd0Er%2BH_WWvL8Tg%40mail.gmail.com.

[Mark Barton]

Yep it was the ROS_DOMAIN_ID. For some reason it was set to 25 in my bashrc file.

So what makes 0 special? I know the DOMAIN ID has something to do with port number assignments over wifi, but in this case both windows were opened on the RPI and not over WIFI.

Thanks for the info.

Mark

[Mark Barton]

Hi Chuck, Paul

Thanks for the information. It was the ROS_DOMAIN_ID that was causing the problem. For some reason it was set to 25.

Mark

On Wednesday, September 24, 2025 at 11:27:19 AM UTC-4 paul.b...@gmail.com wrote:

[Chuck Illingworth]

Mark, 

   I think ROS_DOMAIN_ID=0

is the default value when 

ROS_DOMAIN_ID is not set.

The microprocessor script seems to be running in it's own space, 

where ROS_DOMAIN_ID is not set, so defaults to = 0.

I do not know how to set ROS_DOMAIN_ID value in the microprocessor script.

Chuck

To view this discussion visit https://groups.google.com/d/msgid/linorobot/388f85b5-7d7c-4268-b14c-27e7cf261c87n%40googlegroups.com.

[Mark Barton]

Yep it was ROS_DOMAIN_ID setting. For some reason it was set to 25 in my bashrc.

So is there anything magic about a domain id of 0? I understand that the id  has something to do with port creation for wifi, however both windows were on the raspberry pi.

Thanks for the info.

Mark

On Wednesday, September 24, 2025 at 11:27:19 AM UTC-4 paul.b...@gmail.com wrote: