uros ping loss over wifi in Linorobot2 - any info?

[Paul Bouchier]

We have been trying to understand or work around an occasional loss of micro-ros pings to the micro-ros agent. We see it in both the ESP32 firmware from linorobot2_hardware, and in the ESP32 firmware from micro_ros_arduino_examples_platformio when running the micro_ros_reconnection_example. It causes micro-ros and the linorobot2_hardware firmware to restart, which causes performance issues.

Has anyone seen this or investigated it more deeply? We have a workaround, but it has some undesirable consequences, and a cure would be better than a workaround.

If you are unable to reply through the google group, please let me know that by emailing paul.b...@gmail.com - I also want to make sure the google group works properly.

Thanks

Paul Bouchier

[Pito Salas]

What would be the external symptom of this problem occurring?

Pito Salas

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Best,

Pito

Boston Robot Hackers &&
Comp. Sci Faculty, Brandeis University (Emeritus)

[Paul Bouchier]

You would see this issue if you were running in the wifi configuration - an ESP32 on the robot talking to ROS nodes on the laptop over wifi. You would see the problem in the window which launched 

ros2 launch linorobot2_bringup bringup.launch.py micro_ros_transport:=udp4 micro_ros_port:=8888 lidar_transport:=udp_server lidar_server_port:=8889

After it printed the initial connection message with all the publishers, datawriters etc listed, you would occasionally see another stream of those messages saying publishers, datawriters etc deleted, then created again. It takes about a second for the deletions then recreations to happen, and in my experience this can recur anywhere between every few seconds and every 10 minutes.

Paul

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