Microros client stops receiving data

Dieses Issue hat noch niemand übernommen.

Hey @pablogs9 ,
I am facing some sort of communication issue as follows....
**Problem Description:**
I am facing difficulties when attempting to run three ESP32 devices simultaneously, each connecting to a MicroROS agent and publishing twist data to three separate bots. Despite having a strong WiFi signal and utilizing the UDP4 protocol on different ports for each ESP32 device (port 8888 and others), we encounter a recurring problem. Initially, when each ESP32 device is started individually, communication runs smoothly. However, after a short period, all three ESP32 devices cease to receive data.

**Key Details:**
- WiFi Signal Strength: Strong
- Protocol: UDP4
- Port Configuration: Each ESP32 device uses a unique port for communication

**Efforts Made:**
- Ensured strong WiFi signal.
- Configured each ESP32 device to use a unique port for communication.
- Verified that communication functions correctly when bots are started individually.

**Code on each ESP32(changing the node and topic names as well as ports accordingly):**
#include
#include
#include
#include
#include
#include
#include
#include
#include // Include Bool message type

rcl_subscription_t subscriber_cmd_vel;
geometry_msgs__msg__Twist msg;
rcl_subscription_t subscriber_pen_down;
std_msgs__msg__Bool pen_msg;
rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
rcl_timer_t timer;

Servo servo1;
Servo servo2;
Servo servo3;
Servo servo_pen;

#define servo1_pin 25
#define servo2_pin 26
#define servo3_pin 27
#define servo_pen_pin 19
#define LED_PIN LED_BUILTIN
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}

void error_loop(){
while(1){
digitalWrite(LED_PIN, !digitalRead(LED_PIN));
delay(100);
}
}

void cmd_vel_callback(const void * msgin)
{
const geometry_msgs__msg__Twist * msg = (const geometry_msgs__msg__Twist *)msgin;
// Your processing logic for Twist messages goes here
}

void pen_down_callback(const void * msgin)
{
const std_msgs__msg__Bool * pen_msg = (const std_msgs__msg__Bool *)msgin;
// Your processing logic for Bool messages goes here
}

void setup() {
set_microros_wifi_transports("wifi", "password", "192.168.**.**", 8888);
// set_microros_tcp_transports("192.168.65.44", 8892);
Serial.begin(9600);
servo1.attach(servo1_pin);
servo2.attach(servo2_pin);
servo3.attach(servo3_pin);
servo_pen.attach(servo_pen_pin);
pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, HIGH);
delay(2000);

allocator = rcl_get_default_allocator();

RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
RCCHECK(rclc_node_init_default(&node, "subscriber_node_3", "", &support));

RCCHECK(rclc_subscription_init_default(
&subscriber_cmd_vel,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist),
"/cmd_vel/bot3"));

RCCHECK(rclc_subscription_init_default(
&subscriber_pen_down,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Bool),
"/pen3_down"));

RCCHECK(rclc_executor_init(&executor, &support.context, 2, &allocator));
RCCHECK(rclc_executor_add_subscription(&executor, &subscriber_cmd_vel, &msg, &cmd_vel_callback, ON_NEW_DATA));
RCCHECK(rclc_executor_add_subscription(&executor, &subscriber_pen_down, &pen_msg, &pen_down_callback, ON_NEW_DATA));
}

void loop() {
RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(1)));

servo1.write(msg.linear.x + 90);
servo2.write(msg.linear.y + 90);
servo3.write(msg.linear.z + 90);
// Process msg_pen_down (bool) if needed
if (pen_msg.data) {
servo_pen.write(95);
} else {
servo_pen.write(90);
}
}

Beginne damit, das Setup mit drei ESP32-Geräten unter Verwendung von set_microros_wifi_transports und unterschiedlichen UDP4-Ports zu reproduzieren. Untersuche das Transport-Setup und die rclc_executor_spin_some-Schleife und vergleiche dabei das Verhalten eines einzelnen Geräts mit dem von drei Geräten. Als erledigt gilt die Aufgabe, wenn alle Geräte bei gleichzeitigem Betrieb weiterhin ihre abonnierten Daten empfangen.

Vom Indexierungsmodell aus dem Issue-Text verfasst.