node fishbot_motion_control 在node list里看不到

hury

@小鱼
按书上代码创建node fishbot_motion_control, rclc_node_init_default 返回0，但 node listnode fishbot_motion_control 在node list

code_text    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
    auto ret = rclc_node_init_default(&node, "fishbot_motion_control", "", &support); // 初始化节点
    Serial.printf("rclc_node_init_default: ret = %d\n", ret);

micro_ros_agent 日志，看着是能正常连接并create_topic、create_publisher：

ros2 run micro_ros_agent micro_ros_agent udp4 --port 8000
[1750427414.761658] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8000
[1750427414.761905] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1750427424.983911] info     | Root.cpp           | create_client            | create                 | client_key: 0x79F62086, session_id: 0x81
[1750427424.984123] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x79F62086, address: 192.168.31.246:16415
[1750427425.044061] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x79F62086, participant_id: 0x000(1)
[1750427425.188799] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x79F62086, topic_id: 0x000(2), participant_id: 0x000(1)
[1750427425.260997] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x79F62086, subscriber_id: 0x000(4), participant_id: 0x000(1)
[1750427425.364820] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x79F62086, datareader_id: 0x000(6), subscriber_id: 0x000(4)
[1750427425.399368] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x79F62086, topic_id: 0x001(2), participant_id: 0x000(1)
[1750427425.441572] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x79F62086, publisher_id: 0x000(3), participant_id: 0x000(1)
[1750427425.454749] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x79F62086, datawriter_id: 0x000(5), publisher_id: 0x000(3)

node list 看不到fishbot_motion_control

********:~/studio/fishbot_control/fishbot_agent$ ros2 node list
********:~/studio/fishbot_control/fishbot_agent$

hury

已解。
问题是主机和micro-ros两端ros_domain_id没对齐