After isolating micro ROS topics, the data is not being published

[Muthukumar4796]

Device - Arduino Due

After isolate the micro ros topic using,(this is taken by micro ros tutorials)

/ Initialize micro-ROS allocator
rcl_allocator_t allocator = rcl_get_default_allocator();

// Initialize and modify options (Set DOMAIN ID to 10)
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_init_options_init(&init_options, allocator);
rcl_init_options_set_domain_id(&init_options, 10);

// Initialize rclc support object with custom options
rclc_support_t support;
rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);

The micro ROS topic is not publishing. How can I resolve this issue? I have shared my code and attached screenshot for reference

#include <micro_ros_arduino.h>

#include <stdio.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>

#include <std_msgs/msg/int32.h>

rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;
rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
rcl_timer_t timer;

#define LED_PIN 13

#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 timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
RCLC_UNUSED(last_call_time);
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
msg.data++;
}
}

void setup() {
set_microros_transports();

pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, HIGH);

delay(2000);

allocator = rcl_get_default_allocator();

// Initialize micro-ROS allocator
rcl_allocator_t allocator = rcl_get_default_allocator();

// Initialize and modify options (Set DOMAIN ID to 7)
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_init_options_init(&init_options, allocator);
rcl_init_options_set_domain_id(&init_options, 7);

// Initialize rclc support object with custom options
rclc_support_t support;
rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);

// create node
RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_node", "", &support));

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

// create timer,
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));

// create executor
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
RCCHECK(rclc_executor_add_timer(&executor, &timer));

msg.data = 0;
}

void loop() {
delay(100);
RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
}

[hippo5329]

What do you mean by "isolate"? Do you try topic echo?

[Muthukumar4796]

Isolate means trying to avoid floating topics in the same network. Can you check the attached screenshot. I tried to echo the topic

[hippo5329]

Did you set the domain_id with "export ROS_DOMAIN_ID=7" before echo?

I repeated the test with domain_id as 10. It works.

hippo5329/micro_ros_arduino_examples_platformio@75bec5c

[Muthukumar4796]

It was my mistake to assign two allocators, which is why the topic was not published. I have identified and fixed the issue now. Thanks.