Using ethernet module results in RCL_RET_ERROR being returned when running rclc_support_init

[sowmr5]

Using ethernet module results in RCL_RET_ERROR being returned when running rclc_support_init

• Hardware description: Teensy 4.1
• RTOS: Arduino
• Installation type: PlatformIO example
• Version or commit hash: 1.0.0 (2022-05-25) - judging from changelog in platformio library folder.

Steps to reproduce the issue

Run the following code in platformio: https://pastebin.com/p0CZA7zE
When trying to use the ethernet module, it seems to fail when reaching:
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
The value returned is RCL_RET_ERROR but there is no other detail on it. Ethernet itself appears to work as there is an IP on the network which can be pinged.

Expected behavior

rclc_support_init returns a non error value and continues running the rest of the program

Actual behavior

The teensy will end up in the error_loop function when the RCL_RET_ERROR error is returned in the RCCHECK

[pablogs9]

Is this code being built?

// Test custom transports
#if defined(MICRO_ROS_TRANSPORT_ARDUINO_CUSTOM)
bool platformio_transport_open(struct uxrCustomTransport * transport) {return false;};
bool platformio_transport_close(struct uxrCustomTransport * transport) {return false;};
size_t platformio_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err) {return 0;};
size_t platformio_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err) {return 0;};
#endif

[sowmr5]

Thanks for the reply, no, it's not being built. I've tried it with and without that code and both appear to fail in the same place (rclc_support_init).

[pablogs9]

What is the output of your micro-ROS Agent with the flag -v6?

[sowmr5]

Command:

micro-ros-agent udp4 --port 8888 -v6

Output:

[1676993210.570109] info | UDPv4AgentLinux.cpp | init | running... | port: 8888
[1676993210.570422] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6

[pablogs9]

Your board is not communication with the agent, this is why rclc_support_init.

Can you ensure that without micro-ROS your board networking is working?

[sowmr5]

Thanks for your help. After trying the following demo code:

https://github.com/vjmuzik/NativeEthernet/blob/master/examples/UDPSendReceiveString/UDPSendReceiveString.ino

and sending a UDP packet, the Teensy network appears to be working ok:

Reached end of setupReceived packet of size 2
From 192.168.1.27, port 44744
Contents:
hi

It that test ok, or should a different one be made? As a next step I'll check if there are any issue with the teensy accessing the agent on the host machine.

Thanks again

[pablogs9]

This test is ok, now you need to ensure that micro-ROS in sending UDP message to port 8888 in your host (where the agent is listening). Probably is a good idea to take a look at send method of the custom transports.