custom message error in ros2 with simulink

Question

준기 홍 2023-4-1

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1939294-custom-message-error-in-ros2-with-simulink

评论： Diego 2024-6-5

采纳的回答： Prabeen Sahu

tier4_debug_msgs.zip

I made a custom message using the "ros2genmsg()" function in matlab and successfully made my custom message.

And when i test the message in simulink, i get an error message claiming

STD exception 'mwboost::wrapexcept<mwboost::exception_detail::current_exception_std_exception_wrapper<std::invalid_argument> >': 'Connection to process with Exchange: "5f1470ff-8f66-40e9-84fb-5f3bfd116a13 " was lost.' was caught.

I have no idea what i have missed here. When i use the provided message by matlab like "std_msgs" it works fine, but when i use my custom message, the simulink shows error shown above and likely breaks the simulink.

you can see from the picture below, my custom message "tire4_debug_msgs" is shown when i type ros2 msg list

I wanna know how i can fix this and make it right.

i'll give the the needed information for you guys if you leave a comment.

Thanks.

enviroment:

matlab R2022b

ubuntu22.04 / humble

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Prabeen Sahu 2023-4-4

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1939294-custom-message-error-in-ros2-with-simulink#answer_1208574

编辑：Prabeen Sahu 2023-4-4

Hi,

Thanks for helping in investigation. This issue might be due to an incompatibility between the libstdc++ shipped with MATLAB and the libstdc++ shipped with "Ubuntu 22.04 LTS".

Please try the following workaround:

Please rename libstdc++.so.6 file located in "matlabroot/sys/os/glnxa64" so that MATLAB cannot find it and is forced to use the system's version of the library. Renaming it to libstdc++.so.6.old should suffice. (where "matlabroot" is root installation directory of MATLAB).
Please delete the previously generated folders during ros2genmsg() execution and run reg = ros.internal.CustomMessageRegistry.getInstance('ros2',true); reg.refresh(true); to remove the existing ros2 custom messages.
Now please regenerate the custom messages using ros2genmsg() in R2022b MATLAB and check if you still face the issues.

-Pabeen

6 个评论
显示 4更早的评论隐藏 4更早的评论

Tobias 2024-1-30

Hi!

I'm also still having that issue with R2023b and Ubuntu 22.04 LTS, when trying to run or compile Simulink models with ROS2 subscribers that apparently use the code generation via this library.

The solution above didn't work for me either. Has anybody found another solution?

Best regards

Tobias

Diego 2024-6-5

Hello,

I'm having this problem too, with R2023b and Ubuntu 22.04 LTS when using custom messages. The accepted answer doesn't solve it, and I couldn't find any newer solution in forum.

@Prabeen Sahu do you know why your workaround works for 2022b and 2023a, but not for 2023b?

Regards,

Diego

请先登录，再进行评论。

Answer 2

Prabeen Sahu 2023-4-3

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1939294-custom-message-error-in-ros2-with-simulink#answer_1207784

Hi,

please provide us with the following information:

What is the operating system that you are running your MATLAB on?
Are you experiencing this issue only with this particular custom message package or with any custom message?
Could you specify the exact moment when you encounter this issue? Is it when you select the topic or when you start running the model?
When you face this issue, please execute ros2 topic list in the MATLAB command window and verify if the topic appears in the list.
Do you encounter this issue when both the publisher and subscriber are in R2022b MATLAB ( Publish the messages using ros2publisher and subscribe them using ros2subscriber)?

Thanks,

Prabeen

3 个评论
显示 1更早的评论隐藏 1更早的评论

Prabeen Sahu 2023-4-4

在 MATLAB Online 中打开

Hi,

Please run the below mentioned commands in MATLAB to clear the existing custom messages

reg = ros.internal.CustomMessageRegistry.getInstance('ros2',true);
reg.refresh(true);

Now please regenerate the custom messages using ros2genmsg() in R2022b MATLAB and check if you still face the issues.

If you still face the issues please use below mentioned code to create both publisher and subscriber in R2022b MATLAB and publish the messages using ros2publisher and subscribe them using ros2subscriber.

nod = ros2node("/testnode");
pub = ros2publisher(nod,"/control/trajectory_follower/lateral/diagnostic","tire4_debug_msgs/Float32MultiArrayStamped");
sub = ros2subscriber(nod,"/control/trajectory_follower/lateral/diagnostic");
msg = ros2message(pub);
pub.send(msg);
msg = sub.LatestMessage

Please check and inform us if you were able to receive the message(msg) without any problems. This testing will aid us in comprehending and pinpointing the issue.

Additionally, please specify which flavor of Linux you are using to run MATLAB.

-Prabeen

준기 홍 2023-4-4

First of all my linux is Ubuntu 22.04 LTS (Jammy Jellyfish)

I followed the command line and seems like nothing happend.

reg = ros.internal.CustomMessageRegistry.getInstance('ros2',true);

reg.refresh(true);

Tried checking with "ros2 msg list" command but the custom message was still existing.

After this,

nod = ros2node("/testnode");

was succesful but I got stuck at

pub = ros2publisher(nod,"/control/trajectory_follower/lateral/diagnostic","tier4_debug_msgs/Float32MultiArrayStamped");

an error occurs like the picture below.

For the first attempt

Transport stopped.

error shows up terminating the command. And whenever i try again, the same error keeps appearing.

Connection to process with Exchange: "2401ef35-46cf-4c35-90b8-ceef4f75713d " was lost.

I also tried to regenerate my custom message after clearing the message you have noticed.

But regardlessly, got the same result.

Thanks for your help, appreciate it.

请先登录，再进行评论。

Answer 3

Prabeen Sahu 2023-4-4

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1939294-custom-message-error-in-ros2-with-simulink#answer_1208764

Hi,

Thanks for helping in investigation. This issue might be due to an incompatibility between the libstdc++ shipped with MATLAB and the libstdc++ shipped with "Ubuntu 22.04 LTS".

Please try the following workaround:

Please rename libstdc++.so.6 file located in "matlabroot/sys/os/glnxa64" so that MATLAB cannot find it and is forced to use the system's version of the library. Renaming it to libstdc++.so.6.old should suffice. (where "matlabroot" is root installation directory of MATLAB).
Please delete the previously generated folders during ros2genmsg() execution and run reg = ros.internal.CustomMessageRegistry.getInstance('ros2',true); reg.refresh(true); to remove the existing ros2 custom messages.
Now please regenerate the custom messages using ros2genmsg() in R2022b MATLAB and check if you still face the issues.

-Pabeen