micro-ros-agent: [ros2run]: Segmentation fault when trying to set

在 Raspberry Pi CM4 上使用 ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyAMA1 -b 921600 -v 6 重现该故障，并以记录的客户端创建和串行通信消息为起点。确定客户端连接后 agent 发生段错误的原因，并记录已确认的原因以及可重现的修复方案或调试结果。

Segmentation Fault in micro-ros-agent

• Hardware description: The micro-ros-agent was compiled on a raspberry pi CM4 where ROS2 Humble is installed.
• RTOS: I'm trying to setup a connection between the raspberry pi and a PX4 flight controller running NuttX
• Installation type: I have used the current main branch of the px4-firmware and confirmed that the microdds_client works (I have connected my development computer running ubuntu 20.04 and ros2 galactic and ran the same ros2 testing nodes using the same serial connection).
• Version or commit hash: ros2 humble

Steps to reproduce the issue

I have compiled the micro-ros-agent according to the instructions found here. When running the agent it starts up just fine and as soon as the client side is launched I get the following error:

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyAMA1 -b 921600 -v 6 
[1669365763.761759] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1669365763.762643] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1669365794.016024] info     | Root.cpp           | create_client            | create                 | client_key: 0xAAAABBBB, session_id: 0x81
[1669365794.017208] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0xAAAABBBB, address: 1
[1669365794.017602] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0xAAAABBBB, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1669365794.120910] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAAAABBBB, len: 108, data: 
0000: 81 80 00 00 01 05 62 00 00 0A 00 11 01 02 00 00 53 00 00 00 3C 64 64 73 3E 3C 70 61 72 74 69 63
0020: 69 70 61 6E 74 3E 3C 72 74 70 73 3E 3C 6E 61 6D 65 3E 70 78 34 5F 6D 69 63 72 6F 5F 78 72 63 65
0040: 5F 64 64 73 3C 2F 6E 61 6D 65 3E 3C 2F 72 74 70 73 3E 3C 2F 70 61 72 74 69 63 69 70 61 6E 74 3E
0060: 3C 2F 64 64 73 3E 00 00 00 00 00 00
[1669365794.121227] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0xAAAABBBB, len: 13, data: 
0000: 81 00 00 00 0B 01 05 00 00 00 00 00 80
[ros2run]: Segmentation fault

On the client side in the NuttX shell I get the following error:

ERROR [microdds_client] create entities failed: participant: 255

I have tested the client side with other agents where it worked like charm, so I believe that the problem is the agent running on my raspberry pi CM4. What are steps I can take to debug this problem?