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ROS2: Cannot read /testing_only/track through fsds_ros2_bridge #367

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froxec opened this issue Apr 9, 2024 · 2 comments · May be fixed by #376
Open

ROS2: Cannot read /testing_only/track through fsds_ros2_bridge #367

froxec opened this issue Apr 9, 2024 · 2 comments · May be fixed by #376

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@froxec
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froxec commented Apr 9, 2024

OS: ROS2 Humble
Problem description:
Whenever I try to read /testing_only/track message it shows nothing.
Message flow diagram:
FSDS -> fsds_ros2_bridge -> ros2 topic echo command/c++ subscriber.

Prior investigation conclusions:

  1. I think that fsds_ros2_bridge is at fault.
  2. /testing_only/track is a latched message.
  3. Latched messages in ROS2 work by setting proper QoS profile: "The “durability” policy “transient local”, combined with any depth, provides functionality similar to that of “latching” publishers." Source
  4. Requirement from point 3. is not met because message qos-durability is set to volatile (which means that samples don't persist on the publisher side) SOURCE.

Point 4. evidence (output of ros2 topic info --verbose /testing_only/track):

Type: fs_msgs/msg/Track
Publisher count: 1
Node name: ros_bridge
Node namespace: /
Topic type: fs_msgs/msg/Track
Endpoint type: PUBLISHER
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

Possible solution: Change fsds_ros2_bridge QoS profile for /testing_only/track message (as described in point 3.)
Is that possible to change QoS profile in fsds_ros2_bridge?
@wouter-heerwegh
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wouter-heerwegh commented Apr 9, 2024 •
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Hi @froxec,

I currently do not have a ROS2 environment set up. If you'd like to have this implemented quickly and would like to contribute, feel free to open a PR. Otherwise I will have to find some time (probably next week).

@froxec
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froxec commented Apr 15, 2024

Hello @wouter-heerwegh,

I hotfixed this by writing the whole track (cones colors + locations) to json file (through Python client) and then simply loading it in c++ node.

@wouter-heerwegh wouter-heerwegh linked a pull request Dec 16, 2024 that will close this issue
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ROS2 Namespace and testing_only/track latching FS-Driverless/Formula-Student-Driverless-Simulator
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@wouter-heerwegh @froxec