Hacktoberfest 2026：维护者为十月标记出来的 issue，仍然开放、适合新手。 浏览 Hacktoberfest issue

Microros client stops receiving data

未关闭
  • 哪里不对？
#686 0 条评论 0 个 reaction 已指派 0 人 在 GitHub 查看

还没有人认领这个 Issue。

评估

难度
4/5
预计耗时
3-5 天
新手友好度
25/100
Issue 类型
缺陷
描述清晰度
需要澄清
活跃度
停滞
技术栈
cpp, embedded-iot
领域
embedded-iot, networking

调研方向

首先，使用 set_microros_wifi_transports 和不同的 UDP4 端口，通过三个 ESP32 设备复现该设置。检查传输设置和 rclc_executor_spin_some 循环，同时比较单设备和三设备的行为。完成的标准是：所有设备同时运行时仍能持续接收其订阅的数据。

由索引模型根据 Issue 内容生成。

描述

Hey @pablogs9 ,
I am facing some sort of communication issue as follows....
Problem Description:
I am facing difficulties when attempting to run three ESP32 devices simultaneously, each connecting to a MicroROS agent and publishing twist data to three separate bots. Despite having a strong WiFi signal and utilizing the UDP4 protocol on different ports for each ESP32 device (port 8888 and others), we encounter a recurring problem. Initially, when each ESP32 device is started individually, communication runs smoothly. However, after a short period, all three ESP32 devices cease to receive data.

Key Details:

  • WiFi Signal Strength: Strong
  • Protocol: UDP4
  • Port Configuration: Each ESP32 device uses a unique port for communication

Efforts Made:

  • Ensured strong WiFi signal.
  • Configured each ESP32 device to use a unique port for communication.
  • Verified that communication functions correctly when bots are started individually.

Code on each ESP32(changing the node and topic names as well as ports accordingly):
#include <ESP32Servo.h>
#include <micro_ros_arduino.h>
#include <stdio.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <geometry_msgs/msg/twist.h>
#include <std_msgs/msg/bool.h> // Include Bool message type

rcl_subscription_t subscriber_cmd_vel;
geometry_msgs__msg__Twist msg;
rcl_subscription_t subscriber_pen_down;
std_msgs__msg__Bool pen_msg;
rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
rcl_timer_t timer;

Servo servo1;
Servo servo2;
Servo servo3;
Servo servo_pen;

#define servo1_pin 25
#define servo2_pin 26
#define servo3_pin 27
#define servo_pen_pin 19
#define LED_PIN LED_BUILTIN
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}

void error_loop(){
while(1){
digitalWrite(LED_PIN, !digitalRead(LED_PIN));
delay(100);
}
}

void cmd_vel_callback(const void * msgin)
{
const geometry_msgs__msg__Twist * msg = (const geometry_msgs__msg__Twist *)msgin;
// Your processing logic for Twist messages goes here
}

void pen_down_callback(const void * msgin)
{
const std_msgs__msg__Bool * pen_msg = (const std_msgs__msg__Bool *)msgin;
// Your processing logic for Bool messages goes here
}

void setup() {
set_microros_wifi_transports("wifi", "password", "192.168..", 8888);
// set_microros_tcp_transports("192.168.65.44", 8892);
Serial.begin(9600);
servo1.attach(servo1_pin);
servo2.attach(servo2_pin);
servo3.attach(servo3_pin);
servo_pen.attach(servo_pen_pin);
pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, HIGH);
delay(2000);

allocator = rcl_get_default_allocator();

RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
RCCHECK(rclc_node_init_default(&node, "subscriber_node_3", "", &support));

RCCHECK(rclc_subscription_init_default(
&subscriber_cmd_vel,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist),
"/cmd_vel/bot3"));

RCCHECK(rclc_subscription_init_default(
&subscriber_pen_down,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Bool),
"/pen3_down"));

RCCHECK(rclc_executor_init(&executor, &support.context, 2, &allocator));
RCCHECK(rclc_executor_add_subscription(&executor, &subscriber_cmd_vel, &msg, &cmd_vel_callback, ON_NEW_DATA));
RCCHECK(rclc_executor_add_subscription(&executor, &subscriber_pen_down, &pen_msg, &pen_down_callback, ON_NEW_DATA));
}

void loop() {
RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(1)));

servo1.write(msg.linear.x + 90);
servo2.write(msg.linear.y + 90);
servo3.write(msg.linear.z + 90);
// Process msg_pen_down (bool) if needed
if (pen_msg.data) {
servo_pen.write(95);
} else {
servo_pen.write(90);
}
}

主要语言
Shell
星标
514
派生
184
平均合并
22 小时 26 分钟
30 天内合并 PR
7

环境准备

  • 没有 Dockerfile 或 Docker Compose 文件
  • 没有 Pull Request 模板
  • 阅读贡献指南

从这里开始

  1. 先读完整个 Issue，再读项目的贡献指南。
  2. 在 Issue 下留言说明你要接手 —— 这能避免两个人做同样的事。
  3. Fork 仓库，在一个分支上完成修改。
  4. 提交 Pull Request，并在描述里引用这个 Issue 编号。

micro-ROS/micro_ros_setup 的其他 Issue

查看 micro-ROS/micro_ros_setup 的全部 Issue

相似的 Issue

更多 Shell/Bash Issue

把新 issue 发到你的邮箱

精选适合新手参与的 GitHub issue 摘要。