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void StartDefaultTask(void *argument) { /* USER CODE BEGIN StartDefaultTask */ /* Infinite loop */ // micro-ROS configuration rmw_uros_set_custom_transport( true, (void *) &huart2, cubemx_transport_open, cubemx_transport_close, cubemx_transport_write, cubemx_transport_read); rcl_allocator_t freeRTOS_allocator = rcutils_get_zero_initialized_allocator(); freeRTOS_allocator.allocate = microros_allocate; freeRTOS_allocator.deallocate = microros_deallocate; freeRTOS_allocator.reallocate = microros_reallocate; freeRTOS_allocator.zero_allocate = microros_zero_allocate; if (!rcutils_set_default_allocator(&freeRTOS_allocator)) { printf("Error on default allocators (line %d)\n", __LINE__); } // micro-ROS node rcl_allocator_t allocator = rcl_get_default_allocator(); rclc_support_t support; RCCHECK(rclc_support_init(&support, 0, NULL, &allocator)); rcl_node_t node; RCCHECK(rclc_node_init_default(&node, "DuploBuster", "", &support)); // micro-ROS action service while(ROSIDL_GET_ACTION_TYPE_SUPPORT(duplobuster_interface, Order) == NULL); rclc_action_server_t action_server; volatile int qqq = rclc_action_server_init_default( &action_server, &node, &support, ROSIDL_GET_ACTION_TYPE_SUPPORT(duplobuster_interface, Order), "Order" ); // Create executor rclc_executor_t executor; volatile wtf2 = rclc_executor_init(&executor, &support.context, 1, &allocator); duplobuster_interface__action__Order_SendGoal_Request ros_goal_request[10]; volatile int wtf3 = rclc_executor_add_action_server( &executor, &action_server, 10, ros_goal_request, sizeof(duplobuster_interface__action__Order_SendGoal_Request), handle_goal, handle_cancel, (void *) &action_server ); // create publisher std_msgs__msg__Int32 msg; rcl_publisher_t publisher; rclc_publisher_init_default( &publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "cubemx_publisher"); msg.data = 0; for(;;) { HAL_GPIO_TogglePin(PIN_TEST_GPIO_Port, PIN_TEST_Pin); rcl_ret_t ret = rcl_publish(&publisher, &msg, NULL); rclc_executor_spin_some(&executor, RCL_MS_TO_NS(10)); if (ret != RCL_RET_OK) { printf("Error publishing (line %d)\n", __LINE__); } msg.data++; osDelay(10); } rcl_node_fini(&node); /* USER CODE END StartDefaultTask */ }
I should be able to discover the action wen runing ros2 run action list
ros2 run action list
I don't have anyting when running ros2 run action list even though I still can see the node and the publisher
The code compiles without any error / warning, it's a runtime issue
Thank you
The text was updated successfully, but these errors were encountered:
You need to modify the values on the colcon.meta file and then rebuild the library, just as detailed on the Customizing the micro-ROS library section.
colcon.meta
For an action server you will need atleast 3 services and 2 publishers, that are used internally by the library.
Sorry, something went wrong.
Acuadros95
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Hello
Issue template
Steps to reproduce the issue
Expected behavior
I should be able to discover the action wen runing
ros2 run action list
Actual behavior
I don't have anyting when running
ros2 run action list
even though I still can see the node and the publisherAdditional information
The code compiles without any error / warning, it's a runtime issue
Thank you
The text was updated successfully, but these errors were encountered: