Connectivity Drop with More Than 5 Devices in Micro-ROS Agent on Docker (Raspberry Pi 5)

还没有人认领这个 Issue。

**Description:**
I am running a micro-ROS agent in a Docker container using the prebuilt image (humble) on a Raspberry Pi 5. I have several ESP32 devices with micro-ROS (Humble). When I attempt to connect more than five devices to the agent, I experience connectivity dropouts, where some devices fail to stay connected. With 5 devices, they are successful in subscribing to topics.

I suspect this issue might be related to the configuration flags in the micro-ROS build, particularly those related to client and resource limits. I came across the following parameters:

- `RMW_UXRCE_MAX_CLIENTS`
- `RMW_UXRCE_MAX_SUBSCRIPTIONS`
- `RMW_UXRCE_MAX_SESSIONS`
- `RMW_UXRCE_MAX_NODES`
- `RMW_UXRCE_MAX_PUBLISHERS`
- `RMW_UXRCE_MAX_SERVICES`
- `RMW_UXRCE_MAX_WAIT_SETS`
- `RMW_UXRCE_MAX_GUARD_CONDITION`
- `RMW_UXRCE_MAX_TOPICS`

These parameters seem critical to configuring the agent, especially as I'm dealing with multiple devices where each subscribes to three topics. I suspect increasing the `RMW_UXRCE_MAX_CLIENTS` value might help, but I'm not entirely sure.

**What I've Tried:**
- I attempted to experiment by manually setting `RMW_UXRCE_MAX_CLIENTS` to 1 (as a test), but it did not yield the expected results, as multiple clients could still connect.
- I've tried searching through the documentation, including [Vulcanexus](https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/memory_management/memory_management.html#:~:text=RMW_UXRCE_MAX_NODES%20%3A%20Maximum%20number%20of%20micro,Default%20value%3A%204) for guidance, but I haven't been able to solve the issue.

**Question:**
In order to adjust these flags and rebuild the micro-ROS agent from source, do I need to modify the build configuration in the following file?
- [`src/micro_ros_setup/config/host/generic/client-host-colcon.meta`](https://github.com/micro-ROS/micro_ros_setup/blob/jazzy/config/host/generic/client-host-colcon.meta)

Or should the changes be made in this file instead?
- [`src/uros/rmw_microxrcedds/rmw_microxredds_c/CMakeLists.txt`](https://github.com/micro-ROS/rmw_microxrcedds/blob/jazzy/rmw_microxrcedds_c/CMakeLists.txt)

I believe the latter might be where the flags should be set, but I'm uncertain. Has anyone else experienced similar connectivity issues when connecting more than five devices to a micro-ROS agent on Docker? If so, how did you resolve it?

(I've also noticed a colcon.meta file in the /src folder of my workspace, should the be used?)

Any guidance on where exactly to set the flags for a manual source installation would be greatly appreciated - Or even the correct approach to setting up an agent to allow for more than 20 clients!

Thanks in advance for your help!

**System Details:**
- **Hardware:** Raspberry Pi 5
- **Docker Image:** Prebuilt micro-ROS agent
- **Micro-ROS Version:** Humble on ESP32 devices
- **Number of Devices:** 5+ ESP32 devices
- **Topics per Device:** 3 Topics per device

**Links to Documentation:**
- [Vulcanexus Documentation on Memory Management](https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/memory_management/memory_management.html)
- [micro_ros_setup Repository](https://github.com/micro-ROS/micro_ros_setup/blob/jazzy/config/host/generic/client-host-colcon.meta)
- [rmw_microxrcedds Repository](https://github.com/micro-ROS/rmw_microxrcedds/blob/jazzy/rmw_microxrcedds_c/CMakeLists.txt)

Thank you!

首先比较 src/micro_ros_setup/config/host/generic/client-host-colcon.meta、src/uros/rmw_microxrcedds/rmw_microxrcedds_c/CMakeLists.txt 和 workspace 的 /src/colcon.meta。在收集 agent 和 client 日志的同时，使用超过五个 ESP32 设备重现掉线问题。确定正确的配置路径，并且经过测试的设置能够支持预期的 client 数量而不发生连接掉线，即表示完成。

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