MicroROS issues with creating publisher

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Hi everyone, I have been working on a project using microROS on stm32 f446re with freertos for some time. I have a problem with creating new publishers and subscribers. Subscriber /cmd_vel works great but when I try to add a publisher or publisher and its subscriber like speed_publisher or speed_subscriber, they don't show up in the Topic List. Has anyone ever had a similar problem or know how to solve this problem? I'm using ros humble on ubuntu 22.04

In this code:
```#include "main.h"
#include "tim.h"
#include "gpio.h"
#include
#include
#include
#include
#include
#include
#include
#include
#include

// Macro functions
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc); vTaskDelete(NULL);}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}

// Constants
#define FRAME_TIME 1 // 1000 / FRAME_TIME = FPS
#define PWM_MOTOR_MIN 0
#define PWM_MOTOR_MAX 1000 //

// Global variables
rcl_publisher_t publisher;
rcl_subscription_t speed_subscriber;
std_msgs__msg__Int32 speed_send_msg;
std_msgs__msg__Int32 speed_recv_msg;

geometry_msgs__msg__Twist msg;
rcl_subscription_t subscriber;
rcl_node_t node;
rclc_support_t support;
rcl_timer_t timer;
rcl_timer_t speed_timer;

// Function prototypes
void setupPins(void);
void setupRos(void);
void cmd_vel_callback(const void *msgin);
void timer_callback(rcl_timer_t *timer, int64_t last_call_time);
float fmap(float val, float in_min, float in_max, float out_min, float out_max);
void cleanup(void);

// HAL handles
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim1;

void setupPins(void) {

// PWM Timer initialization -
if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1) != HAL_OK) {
Error_Handler();
}
if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2) != HAL_OK) {
Error_Handler();
}
if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK) {
Error_Handler();
}
if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4) != HAL_OK) {
Error_Handler();
}
}
void speed_subscription_callback(const void * msgin)
{
const std_msgs__msg__Int32 * msg = (const std_msgs__msg__Int32 *)msgin;
printf("Received: %d\n", msg->data);
}
void speed_timer_callback(rcl_timer_t * speed_timer, int64_t last_call_time)
{
(void) last_call_time;
if (speed_timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &speed_send_msg, NULL));
printf("Sent: %d\n", speed_send_msg.data);
speed_send_msg.data++;
}
}
void cmd_vel_callback(const void *msgin) {
const geometry_msgs__msg__Twist *twist_msg = (const geometry_msgs__msg__Twist *)msgin;
if (twist_msg != NULL) {
msg = *twist_msg;
}
}

void timer_callback(rcl_timer_t *timer, int64_t last_call_time) {
(void)last_call_time; // Unused parameter
if (timer == NULL) return;

float linear = constrain(msg.linear.x, -1, 1);
float angular = constrain(msg.angular.z, -1, 1);

// motors calculation
float left = linear - angular;
float right = linear + angular;

// Normalization
float max_value = fmax(fabs(left), fabs(right));
if (max_value > 1.0f) {
left /= max_value;
right /= max_value;
}

uint16_t pwmValueLeft = (uint16_t)fmap(fabs(left), 0, 1, PWM_MOTOR_MIN, PWM_MOTOR_MAX);
uint16_t pwmValueRight = (uint16_t)fmap(fabs(right), 0, 1, PWM_MOTOR_MIN, PWM_MOTOR_MAX);

if (left>0) {
HAL_GPIO_WritePin(Direction_Left_Front_GPIO_Port, Direction_Left_Front_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(Direction_Left_Rear_GPIO_Port, Direction_Left_Rear_Pin, GPIO_PIN_RESET);
}
else {
HAL_GPIO_WritePin(Direction_Left_Front_GPIO_Port, Direction_Left_Front_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(Direction_Left_Rear_GPIO_Port, Direction_Left_Rear_Pin, GPIO_PIN_SET);
}

if (right>0) {
HAL_GPIO_WritePin(Direction_Right_Front_GPIO_Port, Direction_Right_Front_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(Direction_Right_Rear_GPIO_Port, Direction_Right_Rear_Pin, GPIO_PIN_SET);
}
else {
HAL_GPIO_WritePin(Direction_Right_Front_GPIO_Port, Direction_Right_Front_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(Direction_Right_Rear_GPIO_Port, Direction_Right_Rear_Pin, GPIO_PIN_RESET);
}
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, pwmValueLeft);
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, pwmValueLeft);

__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, pwmValueRight);
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, pwmValueRight);

}

float fmap(float val, float in_min, float in_max, float out_min, float out_max) {
if (in_max - in_min == 0) return out_min;
return (val - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

void cleanup(void) {

rcl_publisher_fini(&publisher, &node);
rcl_timer_fini(&timer);
rcl_timer_fini(&speed_timer);
rcl_subscription_fini(&subscriber, &node);
rcl_subscription_fini(&speed_subscriber, &node);
rcl_node_fini(&node);
rclc_support_fini(&support);
}

void appMain(void *argument) {
(void)argument; // Unused parameter

// Basic inicjalizzation
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_TIM2_Init();
setupPins();

// ROS 2 setup
rcl_allocator_t allocator = rcl_get_default_allocator();

RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
RCCHECK(rclc_node_init_default(&node, "ros_stm32_diffdrive", "", &support));

RCCHECK(rclc_subscription_init_default(
&subscriber,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist),
"/cmd_vel"));
// create publisher

RCCHECK(rclc_publisher_init_default(
&publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"/speed_publisher"));

// create subscriber
RCCHECK(rclc_subscription_init_default(
&speed_subscriber,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"/speed_subscriber"));

RCCHECK(rclc_timer_init_default(
&speed_timer,
&support,
RCL_MS_TO_NS(50),
speed_timer_callback));

RCCHECK(rclc_timer_init_default(
&timer,
&support,
RCL_MS_TO_NS(FRAME_TIME),
timer_callback));

rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
RCCHECK(rclc_executor_init(&executor, &support.context, 4, &allocator));
RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &cmd_vel_callback, ON_NEW_DATA));
RCCHECK(rclc_executor_add_timer(&executor, &speed_timer));
RCCHECK(rclc_executor_add_subscription(&executor, &speed_subscriber, &speed_recv_msg, &speed_subscription_callback, ON_NEW_DATA));
RCCHECK(rclc_executor_add_timer(&executor, &timer));
speed_send_msg.data = 0;

while (1) {
RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(FRAME_TIME)));
HAL_Delay(FRAME_TIME);
}

cleanup();
}

Bắt đầu với phần thiết lập appMain đã dán, đặc biệt là các lệnh đăng ký publisher, subscriber, timer và executor. Kiểm tra cách các thực thể /speed_publisher và /speed_subscriber được khởi tạo và thêm vào, sau đó so sánh hành vi của chúng với /cmd_vel trong khi kiểm tra việc khám phá topic từ ROS Humble trên Ubuntu 22.04. Được xem là hoàn tất khi xác định được lý do các topic đã thêm không xuất hiện và ghi lại một bản sửa lỗi có thể tái hiện.

Do mô hình lập chỉ mục viết ra từ nội dung của issue.