eclipse-cyclonedds / eclipse-cyclonedds/cyclonedds-python

Domain initialization exception when ROS_DOMAIN_ID=0

Open
#311 0 comments 0 reactions 0 assignees View on GitHub

Nobody has claimed this yet.

Dominant language
Python
Stars
110
Forks
68
Avg merge
1h 8m
Merged PRs (30d)
1

Description

Hello,
When trying to initialize the Domain class using id 0, while simultaneously having ROS_DOMAIN_ID environment variable set to 0, the following exception is raised by the Entity class: Occurred upon initialisation of a cyclonedds.domain.Domain. I am passing the following config to the Domain class:

'''<?xml version="1.0" encoding="UTF-8" ?>
    <CycloneDDS>
        <Domain Id="any">
            <General>
                <Interfaces>
                    <NetworkInterface name="eht0" priority="default" multicast="default"/>
                </Interfaces>
            </General>
            <Tracing>
                <Verbosity>config</Verbosity>
            <OutputFile>/tmp/cdds.LOG</OutputFile>
        </Tracing>
        </Domain>
    </CycloneDDS>'''

Changing the ROS_DOMAIN_ID to any other value results in successful initialization of the Domain class. It is unclear whether this is related to ROS already using the CPP version of cyclone DDS by default. I would appreciate it if you could suggest possible inspection tracks for this.

I am using ROS Humble within a docker container on an Ubuntu 20.04 host.

Contributor guide

No contributing guide indexed for this repository

First steps

  1. Read the whole issue, then the project's contributing guide.
  2. Comment on the issue to say you are picking it up — it saves two people doing the same work.
  3. Fork the repository and make your change on a branch.
  4. Open a pull request that references the issue number.

Research direction

Reproduce the failure by initializing the Domain class with id 0 while ROS_DOMAIN_ID=0 in the stated ROS Humble Docker environment. Start at the Entity initialization path and compare it with a nonzero domain ID, then inspect the ROS/Cyclone DDS interaction; done means identifying the cause and adding a regression check for domain ID 0.

Written by the indexing model from the issue text.

Assessment

Tech stack
python
Domain
distributed-systems
Issue type
Bug
Difficulty
4/5
Estimated time
3-5 days
Activity status
Stale
Clarity
Needs clarification
Newbie friendliness
28/100

Get new issues in your inbox

A short digest of beginner-friendly GitHub issues.