ensuring agent is acting as agent for all that it should
Nobody has claimed this yet.
Assessment
- Difficulty
- 5/5
- Estimated time
- Over a week
- Newbie friendliness
- 15/100
- Issue type
- Feature
- Clarity
- Needs clarification
- Activity status
- Stale
- Tech stack
- arduino
- Domain
- distributed-systems, embedded-iot, networking
Research direction
Start with the linked micro-ros_reconnection_example.ino and compare its rmw_uros_ping_agent, fini*, and reinitialization flow with the related issues and pull requests, especially the rmw_microxrcedds changes. Clarify whether periodic XRCE re-announcement or agent-client configuration handshaking is feasible, then define an agreed recovery behavior and its validation cases.
Written by the indexing model from the issue text.
Description
How to guarantee that agent is representing all publishers, nodes etc as requested?
related to the following issues and PRs:
https://github.com/micro-ROS/micro_ros_arduino/issues/40
https://github.com/micro-ROS/micro_ros_setup/issues/299
https://github.com/micro-ROS/micro_ros_setup/issues/256
https://github.com/micro-ROS/rmw_microxrcedds/pull/86/files
https://github.com/micro-ROS/micro_ros_setup/issues/347
https://github.com/micro-ROS/rmw_microxrcedds/pull/143/files
https://github.com/micro-ROS/micro_ros_arduino/issues/912
it appears the consensus is to use rmw_uros_ping_agent to detect the loss of agent communications, fini* and reinit all the bits, as exemplified here https://github.com/micro-ROS/micro_ros_arduino/blob/galactic/examples/micro-ros_reconnection_example/micro-ros_reconnection_example.ino
The communications with the agent is often over UDP, so its possible just to miss one of several init packets?
In this case the agent would be operating normally, and perhaps we wouldnt notice our missing service for a while.
Is it possible to periodically get the XRCE protocol to re-announce to the agent the set of nodes, topics etc, so that it would self recover?
Or is it feasible to implement some kind of "Tell me how you are configured, and I'll compare it to my idea of what I think you should be doing" handshaking in the protocol between agent and microros?
- Dominant language
- Shell
- Stars
- 509
- Forks
- 183
- Avg merge
- 22h 26m
- Merged PRs (30d)
- 7
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
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