rclc_support_t 初始化失败是有什么原因?

hury

@小鱼
用了书中的示例代码：fishbot_motion_control_9.4.1, 出现的问题。定位了下：rclc_support_init(&support,0,NULL,&allocator); 返回的是1， support初始化就失败了。

micro_ros_agent能正常连接

[1750239748.194450] info     | 
UDPv4AgentLinux.cpp | init                     | running...             | port: 8000
[1750239748.194722] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1750239748.379031] info     | Root.cpp           | create_client            | create                 | client_key: 0x0BE4F9B2, session_id: 0x81
[1750239748.379170] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x0BE4F9B2, address: 192.168.31.244:16415
[1750239748.631157] info     | ProxyClient.cpp    | create_participant       | particip
ant created    | client_key: 0x0BE4F9B2, participant_id: 0x000(1)

// 单独创建一个任务运行 micro-ROS 相当于一个线程
void microros_task(void* args)
{
    // 1.设置传输协议并延迟一段时间等待设置的完成
    IPAddress agent_ip;
    agent_ip.fromString("192.168.31.100"); // 设置agent的IP地址
    set_microros_wifi_transports((char*)"******",(char*)"******",agent_ip,8000); // 设置传输协议
    delay(3000); // 等待2秒,等待WIFI连接
    // 2.初始化内存分配器
    allocator = rcl_get_default_allocator(); // 获取默认的内存分配器
    // 3.初始化支持
    rclc_support_init(&support,0,NULL,&allocator); // 初始化支持
    // 4.初始化节点
    rclc_node_init_default(&node,"fishbot_motion_control","",&support); // 初始化节点
    // 5.初始化执行器
    unsigned int num_handles = 0; // 订阅和计时器的回调数量,注意这是一个要改的参数
    rclc_executor_init(&executor,&support.context,num_handles,&allocator); // 初始化执行器
    // 循环执行器
    rclc_executor_spin(&executor);
}

Guru Meditation Error: Core  1 panic'ed (IllegalInstruction). Exception was unhandled.
Memory dump at 0x400d2d5c: 6c866520 04adf01d 65201110
Core  1 register dump:
PC      : 0x400d2d60  PS      : 0x00060430  A0      : 0x00000000  A1      : 0x3ffb4a70  
A2      : 0x3ffc3d50  A3      : 0x3ffc3cc8  A4      : 0x3ffc3d84  A5      : 0x00000000  
A6      : 0x00000000  A7      : 0x00000000  A8      : 0x800d2d60  A9      : 0x3ffb4a50  
A10     : 0x00000001  A11     : 0xfffffffd  A12     : 0x00000000  A13     : 0x00000000  
A14     : 0x00000001  A15     : 0x3ffc3cc8  SAR     : 0x00000018  EXCCAUSE: 0x00000000  
EXCVADDR: 0x00000000  LBEG    : 0x40089b38  LEND    : 0x40089b43  LCOUNT  : 0x00000000  


Backtrace: 0x400d2d5d:0x3ffb4a70




ELF file SHA256: c5452910440be118

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
---- Closed the serial port /dev/ttyUSB0 ----