ros2node() freezes execution

Question

Hendrik Steidl 2022-4-13

1
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1695685-ros2node-freezes-execution

回答： Jagadeesh Konakalla 2022-10-12

采纳的回答： Jagadeesh Konakalla

Hello,

I'm trying to implement and run a ROS2 node in Matlab.

Yesterday, when I first used the Matlab ROS Toolbox, everything worked seamlessly.

Today, after a reboot of my device (Windows 10, 21H2), the simple node creation command

node = ros2node("name");

causes the execution to freeze infinitely until I manually kill the process libmwros2server.

Running and connecting any other ROS2 nodes outside of Matlab is working without any trouble.

I don't receive any errors or any feedback at all. I've tried rebooting my device multiple times and reinstalled Matlab with all toolboxes but without success.

I would appreciate any help on this one.

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Hendrik Steidl 2022-4-13

rossupport.txt

Hi Jagadeesh,

thanks for your reply. You can find the output rossupport.txt in the attachments.

For external nodes (i tried it with both Python and C++ nodes), the Domain ID 0 works.

Kind regards, Hendrik

Kenneth De Leener 2022-6-10

rossupport.txt

Hi everyone,

I ran into the same issue, attached rossupport.txt.

Some additional info:

If I run a ros2 command like ros2 node list, followed by the creation of a ros2node, the ROS daemon locks up
If you first run ros2node, it works fine, after the creation of a second node, it locks up again.

Thank you Hendrik for the work around, this was crucial for our project.

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Answer 1

Jagadeesh Konakalla 2022-10-12

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1695685-ros2node-freezes-execution#answer_1072113

It is observed that with FastDDS as RMW middlwware, the domain ID 0 does not work on few machines. The workaround for now is to use the Domain ID other that 0 or use change the RMW middlwware to other middleware.

Please see the following link on how to switch to different middlwares in MATLAB/Simulink.

Switching Between ROS Middleware Implementations - MATLAB & Simulink (mathworks.com)

Thanks,

Jagadeesh K.