Deserialization errors and eventual micro-ROS agent crash with best-effort publishers.

まず、Arduino Portenta H7、micro-ROS agent、UDP トランスポート、カスタムメッセージ、および指定されたレートの best-effort publisher を使って問題を再現します。Fast CDR BadParamException を含め、InputMessage.cpp と Processor.cpp で報告されているデシリアライズパスを調査します。publisher が期待されるレートを維持している間、エージェントがデシリアライズエラーやクラッシュなしで無期限に動作すれば完了です。

Issue template

• Hardware description: Arduino Portenta H7
• RTOS: Mbed OS
• Installation type: PlatformIO
• Version or commit hash: Galactic, Humble (I've tried both)

Steps to reproduce the issue

I am running micro-ROS on an Arduino Portenta H7, communicating via UDP with a computer running ROS2. I've been testing with both Galactic and Humble (two different systems, one running Ubuntu 20 and the other 22).

I have four publishers in micro-ROS, each publishing a custom message (containing a builtin_interfaces/Time, a uint8, and two float32s) at 100 Hz using best effort QoS. I also have one publisher publishing a custom message (a builtin_interfaces/Time, and a uint8) at 1 Hz.

After the micro-ROS agent is started, communication works for some time, but deserialization errors start to appear, mostly:

[1736739981.033497] error    | InputMessage.cpp   | log_error                | deserialization error  | buffer: 
0000: 00 00 00 00 00 00

and occasionally:

[1734728823.613239] error    | InputMessage.cpp   | log_error                | deserialization error  | buffer: 
0000: 81 01 49 12 07 01 1F 00 12 AD 00 A5 3E ED 65 67 D3 90 66 22 00 00 00 01 00 00 00 00 00 00 00 00
[1734728823.615098] error    | Processor.cpp      | process_write_data_submessage | deserialization error processing WRITE_DATA submessage | client_key: 0x16BCCD79

Messages continue to publish successfully at around 100 Hz, but eventually the micro-ROS agent crashes with the following message:

terminate called after throwing an instance of 'eprosima::fastcdr::exception::BadParamException'
  what():  Unexpected byte value in Cdr::deserialize(bool), expected 0 or 1

Sometimes it takes a while to crash, and other times it only takes a few minutes. I've also tried publishing with reliable QoS. In that case, the micro-ROS agent doesn't crash or have deserialization errors (at least not as quickly), but each topic is only published at about 1 Hz.

Expected behavior

The micro-ROS agent runs indefinitely with no deserialization errors and doesn't crash.

Actual behavior

Deserialization errors and crash.

Thanks!