cannot publish data #827
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 18.04
- Installation type:
- Binaries(Debian package)
- Version or commit hash:
- Dashing latest
- DDS implementation:
- Fast-RTPS
- Client library (if applicable):
- rclcpp
Steps to reproduce issue
In my workspace, I usually run gazebo + driver(for simualtor) on terminal 1. And I launch the navigation2 package on terminal 2.
Expected behavior
No termination on terminal 1
(I've never seen like this error message before with crystal version..)
Do you guys think it's a DDS issue(for example Fast RTPS?)?
Anybody stuck in these kind of issue?
Actual behavior
Not always...... but I got this error message and process died occasionally on terminal 1 when I shutdown the navigation2(on terminal 2) by Ctrl-C and re-launch the navigation2 (on terminal 2).
[launch.sh-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[launch.sh-1] what(): failed to publish message: cannot publish data, at /tmp/binarydeb/ros-dashing-rmw-fastrtps-shared-cpp-0.7.5/src/rmw_publish.cpp:52, at /tmp/binarydeb/ros-dashing-rcl-0.7.6/src/rcl/publisher.c:257
[mcu_porter_sim-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[mcu_porter_sim-3] what(): failed to publish message: cannot publish data, at /tmp/binarydeb/ros-dashing-rmw-fastrtps-shared-cpp-0.7.5/src/rmw_publish.cpp:52, at /tmp/binarydeb/ros-dashing-rcl-0.7.6/src/rcl/publisher.c:257
Additional information
I configured default NodeOptions like below.
: Node("micom_driver", rclcpp::NodeOptions())
I configured QoS on publisher like below.
auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data));
pubOdometryMsg = this->create_publisher<nav_msgs::msg::Odometry>("/odom", qos);