连接正常却无node无topic

邪恶海星星

我使用的RT-thread+STM32
32的程序是官方int32_publisher那套，上下位机的代码都找的是humble版本
上位机Agent代码来自以下语句

git clone http://github.fishros.org/https://github.com/micro-ROS/micro-ROS-Agent.git -b humble
git clone http://github.fishros.org/https://github.com/micro-ROS/micro_ros_msgs.git -b humble

现在搞不懂哪边出问题了
下面是32中有关的代码

#include <rtthread.h>

#include <micro_ros_rtt.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>

static rcl_publisher_t publisher;
static std_msgs__msg__Int32 msg;

static rclc_executor_t executor;
static rclc_support_t support;
static rcl_allocator_t allocator;

static rcl_node_t node;
static rcl_timer_t timer;

static void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{  
    // RCLC_UNUSED(last_call_time);
    if (timer != NULL) 
    {
       rcl_publish(&publisher, &msg, NULL);

       rt_kprintf("msg.data = %d\n",  msg.data);
       msg.data++;
    }
    else {
        rt_kprintf("[micro_ros] timer null\n");
    }
}

static void microros_pub_int32_thread_entry(void *parameter)
{
    while(1)
    {
        rt_thread_mdelay(100);
        rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
    }
}

void microros_pub_int32(int argc, char* argv[])
{
#if defined MICRO_ROS_USE_SERIAL
    // Serial setup
     set_microros_transports();
#endif

#if defined MICRO_ROS_USE_UDP
    // UDP setup
     if(argc==2) {
         set_microros_udp_transports(argv[1], 9999);
     }
     else {
         set_microros_udp_transports("192.168.1.100", 9999);
     }
#endif

    allocator = rcl_get_default_allocator();

    //create init_options
    if (rclc_support_init(&support, 0, NULL, &allocator) != RCL_RET_OK)
    {
        rt_kprintf("[micro_ros] failed to initialize\n");
        return;
    };

    // create node
    if (rclc_node_init_default(&node, "micro_ros_rtt_node", "", &support) != RCL_RET_OK)
    {
        rt_kprintf("[micro_ros] failed to create node\n");
        return;
    }
    rt_kprintf("[micro_ros] node created\n");

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

    rt_kprintf("[micro_ros] publisher created\n");

    // create timer
    const unsigned int timer_timeout = 1000;
    rclc_timer_init_default(
      &timer,
      &support,
      RCL_MS_TO_NS(timer_timeout),
      timer_callback);
    rt_kprintf("[micro_ros] timer created\n");

    // create executor
    rclc_executor_init(&executor, &support.context, 1, &allocator);
    rclc_executor_add_timer(&executor, &timer);
    rt_kprintf("[micro_ros] executor created\n");

    msg.data = 0;

    rt_thread_t thread = rt_thread_create("mr_pubint32", microros_pub_int32_thread_entry, RT_NULL, 2048, 25, 10);
    if(thread != RT_NULL)
    {
        rt_thread_startup(thread);
        rt_kprintf("[micro_ros] New thread mr_pubint32\n");
    }
    else
    {
        rt_kprintf("[micro_ros] Failed to create thread mr_pubint32\n");
    }
}
MSH_CMD_EXPORT(microros_pub_int32, microros publish int32 example)

邪恶海星星

不太懂内部运行原理，摸索的时候在v6中发现数据确实过来了

橡皮擦

遇到了一样的问题，debug有数据, 没有node和topic