Messages (and svcs and action goals) larger than a certain size seem to 'disappear'

Abierto

#143 abierto el 24/5/2022 10 comentarios 0 reacciones 2 asignados Ver en GitHub

@Acuadros95 ya está trabajando en esto.

Desde el 24/5/2022.

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Descripción

bug

Describe the bug

Agents do not appear to forward messages coming in from the "ROS 2 side" that are larger than a certain size.

Increasing the verboseness of the Agent, DDS messages with len: 67776 for instance just disappear. There are no warnings or errors printed by the Agent, and the Client doesn't appear to receive anything, nor does it notify the Agent of any error.

For reference, this was also discussed in https://github.com/micro-ROS/rmw_microxrcedds/issues/258.

To Reproduce
Steps to reproduce the behaviour:

Not exactly steps, but at a high level:

implement a Client capable of subscribing to a message with a variable sized payload
create a rclcpp or rclpy publisher which publishes instances of this message
gradually increase size of the payload from something small to 'something large'
notice how at a certain point, the Client no longer receives any messages

Alternatively: create a server service and client, or an action server and client, which exchange the described message (as one of the fields fi).

Service invocations and action goal submissions will silently start to fail for messages "too large".

Expected behaviour
Ideally: messages of all sizes (even large ones) get forwarded successfully.

Realistically (as unlimited memory doesn't exist): the Agent prints a warning or error, clearly showing it's impossible to forward a message.

If possible: in case of svcs and actions: notify the client the invocation failed -- due to RMW-level failures (so not the invocation itself, but the request didn't even arrive at the server).

System information (please complete the following information):

OS: observed under Ubuntu 20.04, but same happens on other OS
ROS 2 Foxy, Galactic and Rolling
Version: using the "most recent" Docker image (microros/micro-ros-agent / 5e93b1fa5608)

Lenguaje dominante: C++
Estrellas: 201
Forks: 111
Merge medio: 1 d 6 h
PR fusionados (30 d): 10