MotoROS2: Fatal Error Alarm 8011 [5]

[shobhitagg]

I follow all the installation steps and steps for setting up micro-ros-agent as per the README.md file.

When I start the micro_ros_agent on the workstation, I get the following messages. Seems like the session establishes and then closes immediately after.

The controller shows the following error. Attaching PANELBOX.LOG

MotoROS2: Fatal Error
Alarm code:8011 Subcode:5


Ref: FL6BN

[ted-miller]

Hi @shobhitagg

That alarm indicates there was a failure creating the node.

1. What version of ROS2 are you using? (Foxy, Humble, etc) Additionally, did you build the micro_ros_agent for that same version?

2. Are you using the precompiled release binary or building MotoROS2 from source?

3. Can you please provide a copy of the Debug log output and the YAML configuration file?

4. Have you tried using the docker image for the micro-ros-agent? (Rule out any issues with the build)

[gavanderhoorn]

I would indeed suggest to use the micro-ROS Agent Docker image instead of building it from source.

We've not come across a reason to build it ourselves, unless we were fixing/debugging an issue with the Client<->Agent connection.

[shobhitagg]

1. Humble

2. Using release binary motoros2_yrc1000_humble.out

3. Here are both the files:
   Debug log (generated by running micro-ros-agent using docker image)
   motoros2_config.zip

4. Yes, I also tried the docker image. Still has the same error.
   

[gavanderhoorn]

It's likely the problem is the value configured for the node_namespace:

node_namespace: "yk-creator"

Dashes (ie: -) are not legal in ROS resource names.

The debug log also shows:

[2023-08-16 10:22:50.315183] [192.168.1.73:55479]: rclc_node_init_with_options = 202

The 202 maps to RCL_RET_NODE_INVALID_NAMESPACE.

I'd suggest removing the - (or replacing it with a _).

[gavanderhoorn]

@ted-miller: we might want to consider reporting some of these RCL(C) initialisation errors, or defining some subcodes for them.

Especially the NODE, PUBLISHER, SUBSCRIPTION, etc categories seem to be caused by things which could often be solved by users without needing to post on the tracker here.