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    9.4.1章节micro-ROS init failed失败

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    ROS 2相关问题
    micro-ros agent agent
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    • 1
      165437424
      最后由 编辑

      可以建立联接,但micro-ROS init failed反复重启

      jimmyx@jimmytse-PC:~/town_ws/chapt9/fishbot_ws$ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
      [1745073745.029776] info | UDPv4AgentLinux.cpp | init | running... | port: 8888
      [1745073745.030124] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
      [1745073745.476669] info | Root.cpp | create_client | create | client_key: 0x2865ED34, session_id: 0x81
      [1745073745.477005] info | SessionManager.hpp | establish_session | session established | client_key: 0x2865ED34, address: 192.168.113.101:47138
      [1745073745.505339] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x2865ED34, participant_id: 0x000(1)
      [1745073749.534511] info | Root.cpp | delete_client | delete | client_key: 0x2865ED34
      [1745073749.534573] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x2865ED34, address: 192.168.113.101:47138
      [1745073749.534600] info | Root.cpp | create_client | create | client_key: 0x5F96460F, session_id: 0x81
      [1745073749.534607] info | SessionManager.hpp | establish_session | session established | client_key: 0x5F96460F, address: 192.168.113.101:47138
      [1745073749.544918] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x5F96460F, participant_id: 0x000(1)
      ^C[ros2run]: Interrupt

      ESP32 串口接收到信息如下：

      code block

      rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
      configsip: 0, SPIWP:0xee
      clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
      mode:DIO, clock div:1
      load:0x3fff0030,len:1184
      load:0x40078000,len:13260
      load:0x40080400,len:3028
      entry 0x400805e4
      OUT:left_speed=0.000000,right_speed=0.000000
      micro-ROS init failed
      ets Jul 29 2019 12:21:46

      rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
      configsip: 0, SPIWP:0xee
      clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
      mode:DIO, clock div:1
      load:0x3fff0030,len:1184
      load:0x40078000,len:13260
      load:0x40080400,len:3028
      entry 0x400805e4
      OUT:left_speed=0.000000,right_speed=0.000000

      1 条回复 最后回复 回复 引用 0
      • 1
        165437424
        最后由 编辑

        Guru Meditation Error: Core 1 panic'ed (IllegalInstruction). Exception was unhandled.
        Memory dump at 0x400d2cb0: 6ca6a520 04adf01d 25201110
        Core 1 register dump:
        PC : 0x400d2cb4 PS : 0x00060430 A0 : 0x00000000 A1 : 0x3ffd2bd0
        A2 : 0x3ffc3d60 A3 : 0x3ffc3cd0 A4 : 0x3ffc3d94 A5 : 0x00000000
        A6 : 0x00000000 A7 : 0x00000000 A8 : 0x800d2cb4 A9 : 0x3ffd2bb0
        A10 : 0x00000001 A11 : 0xfffffffd A12 : 0x00000000 A13 : 0x00000000
        A14 : 0x00000001 A15 : 0x3ffc3cd0 SAR : 0x00000013 EXCCAUSE: 0x00000000
        EXCVADDR: 0x00000000 LBEG : 0x40084681 LEND : 0x40084689 LCOUNT : 0x00000027

        Backtrace: 0x400d2cb1:0x3ffd2bd0

        ELF file SHA256: dd46fba4a07d5d90

        Rebooting...
        ets Jul 29 2019 12:21:46

        rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
        configsip: 0, SPIWP:0xee
        clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
        mode:DIO, clock div:1
        load:0x3fff0030,len:1184
        load:0x40078000,len:13260
        load:0x40080400,len:3028
        entry 0x400805e4
        OUT:left_speed=0.000000,right_speed=0.000000
        Guru Meditation Error: Core 1 panic'ed (IllegalInstruction). Exception was unhandled.
        Memory dump at 0x400d2cb0: 6ca6a520 04adf01d 25201110
        Core 1 register dump:
        PC : 0x400d2cb4 PS : 0x00060430 A0 : 0x00000000 A1 : 0x3ffd2bd0
        A2 : 0x3ffc3d60 A3 : 0x3ffc3cd0 A4 : 0x3ffc3d94 A5 : 0x00000000
        A6 : 0x00000000 A7 : 0x00000000 A8 : 0x800d2cb4 A9 : 0x3ffd2bb0
        A10 : 0x00000001 A11 : 0xfffffffd A12 : 0x00000000 A13 : 0x00000000
        A14 : 0x00000001 A15 : 0x3ffc3cd0 SAR : 0x0000001f EXCCAUSE: 0x00000000
        EXCVADDR: 0x00000000 LBEG : 0x40084681 LEND : 0x40084689 LCOUNT : 0x00000027

        Backtrace: 0x400d2cb1:0x3ffd2bd0

        ELF file SHA256: dd46fba4a07d5d90

        Rebooting...
        ets Jul 29 2019 12:21:46

        rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
        configsip: 0, SPIWP:0xee
        clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
        mode:DIO, clock div:1
        load:0x3fff0030,len:1184
        load:0x40078000,len:13260
        load:0x40080400,len:3028
        entry 0x400805e4
        OUT:left_speed=0.000000,right_speed=0.000000
        Guru Meditation Error: Core 1 panic'ed (IllegalInstruction). Exception was unhandled.
        Memory dump at 0x400d2cb0: 6ca6a520 04adf01d 25201110
        Core 1 register dump:
        PC : 0x400d2cb4 PS : 0x00060430 A0 : 0x00000000 A1 : 0x3ffd2bd0
        A2 : 0x3ffc3d60 A3 : 0x3ffc3cd0 A4 : 0x3ffc3d94 A5 : 0x00000000
        A6 : 0x00000000 A7 : 0x00000000 A8 : 0x800d2cb4 A9 : 0x3ffd2bb0
        A10 : 0x00000001 A11 : 0xfffffffd A12 : 0x00000000 A13 : 0x00000000
        A14 : 0x00000001 A15 : 0x3ffc3cd0 SAR : 0x0000001f EXCCAUSE: 0x00000000
        EXCVADDR: 0x00000000 LBEG : 0x40084681 LEND : 0x40084689 LCOUNT : 0x00000027

        Backtrace: 0x400d2cb1:0x3ffd2bd0

        ELF file SHA256: dd46fba4a07d5d90

        Rebooting...
        ets Jul 29 2019 12:21:46

        rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
        configsip: 0, SPIWP:0xee
        clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
        mode:DIO, clock div:1
        load:0x3fff0030,len:1184
        load:0x40078000,len:13260
        load:0x40080400,len:3028
        entry 0x400805e4
        OUT:left_speed=0.000000,right_speed=0.000000
        Guru Meditation Error: Core 1 panic'ed (IllegalInstruction). Exception was unhandled.
        Memory dump at 0x400d2cb0: 6ca6a520 04adf01d 25201110
        Core 1 register dump:
        PC : 0x400d2cb4 PS : 0x00060430 A0 : 0x00000000 A1 : 0x3ffd2bd0
        A2 : 0x3ffc3d60 A3 : 0x3ffc3cd0 A4 : 0x3ffc3d94 A5 : 0x00000000
        A6 : 0x00000000 A7 : 0x00000000 A8 : 0x800d2cb4 A9 : 0x3ffd2bb0
        A10 : 0x00000001 A11 : 0xfffffffd A12 : 0x00000000 A13 : 0x00000000
        A14 : 0x00000001 A15 : 0x3ffc3cd0 SAR : 0x0000001f EXCCAUSE: 0x00000000
        EXCVADDR: 0x00000000 LBEG : 0x40084681 LEND : 0x40084689 LCOUNT : 0x00000027

        Backtrace: 0x400d2cb1:0x3ffd2bd0

        ELF file SHA256: dd46fba4a07d5d90

        Rebooting...
        ets Jul 29 2019 12:21:46

        rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
        configsip: 0, SPIWP:0xee
        clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
        mode:DIO, clock div:1
        load:0x3fff0030,len:1184
        load:0x40078000,len:13260
        load:0x40080400,len:3028
        entry 0x400805e4
        OUT:left_speed=0.000000,right_speed=0.000000

        1 条回复 最后回复 回复 引用 0
        • 1
          165437424
          最后由 编辑

          [1745110152.057756] info | Root.cpp | delete_client | delete | client_key: 0x069BFB4E
          [1745110152.057821] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x069BFB4E, address: 192.168.113.101:47138
          [1745110152.057854] info | Root.cpp | create_client | create | client_key: 0x7C70EBFF, session_id: 0x81
          [1745110152.057870] info | SessionManager.hpp | establish_session | session established | client_key: 0x7C70EBFF, address: 192.168.113.101:47138
          [1745110152.067936] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x7C70EBFF, participant_id: 0x000(1)
          [1745110156.353008] info | Root.cpp | delete_client | delete | client_key: 0x7C70EBFF
          [1745110156.353053] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x7C70EBFF, address: 192.168.113.101:47138
          [1745110156.353080] info | Root.cpp | create_client | create | client_key: 0x1BC25DB8, session_id: 0x81
          [1745110156.353094] info | SessionManager.hpp | establish_session | session established | client_key: 0x1BC25DB8, address: 192.168.113.101:47138
          [1745110156.360611] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x1BC25DB8, participant_id: 0x000(1)
          [1745110160.663617] info | Root.cpp | delete_client | delete | client_key: 0x1BC25DB8
          [1745110160.663683] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x1BC25DB8, address: 192.168.113.101:47138
          [1745110160.663720] info | Root.cpp | create_client | create | client_key: 0x052E9CAE, session_id: 0x81
          [1745110160.663729] info | SessionManager.hpp | establish_session | session established | client_key: 0x052E9CAE, address: 192.168.113.101:47138
          [1745110160.671359] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x052E9CAE, participant_id: 0x000(1)
          [1745110164.982217] info | Root.cpp | delete_client | delete | client_key: 0x052E9CAE
          [1745110164.982280] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x052E9CAE, address: 192.168.113.101:47138
          [1745110164.982320] info | Root.cpp | create_client | create | client_key: 0x7B8BA5B7, session_id: 0x81
          [1745110164.982333] info | SessionManager.hpp | establish_session | session established | client_key: 0x7B8BA5B7, address: 192.168.113.101:47138
          [1745110164.989472] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x7B8BA5B7, participant_id: 0x000(1)
          [1745110169.301336] info | Root.cpp | delete_client | delete | client_key: 0x7B8BA5B7
          [1745110169.301391] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x7B8BA5B7, address: 192.168.113.101:47138
          [1745110169.301412] info | Root.cpp | create_client | create | client_key: 0x34E1AF8B, session_id: 0x81
          [1745110169.301420] info | SessionManager.hpp | establish_session | session established | client_key: 0x34E1AF8B, address: 192.168.113.101:47138
          [1745110169.310761] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x34E1AF8B, participant_id: 0x000(1)
          [1745110173.660879] info | Root.cpp | delete_client | delete | client_key: 0x34E1AF8B
          [1745110173.660934] info | SessionManager.hpp | destroy_session | session closed | client_key: 0x34E1AF8B, address: 192.168.113.101:47138
          [1745110173.660953] info | Root.cpp | create_client | create | client_key: 0x482822A3, session_id: 0x81
          [1745110173.660959] info | SessionManager.hpp | establish_session | session established | client_key: 0x482822A3, address: 192.168.113.101:47138
          [1745110173.667526] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x482822A3, participant_id: 0x000(1)

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