Update Zenoh-pico from 0.7.0 to 1.0.0 #23462

AlexisTM · 2024-07-29T09:34:34Z

Solved Problem

Zenoh 1.0.0 is soon to be released. This upgrades Zenoh-pico version from 0.7.0 to 1.0.0.

The API of Zenoh won't be changing anymore, making the upgrades trivial from now on. This also means from this version onwards, we should feel comfortable to add features without having to re-implement the Zenoh interface from scratch.

Followup of #22017

Solution

Updates the zenoh-pico version. It still needs one update on Zenoh-pico side (Use SO_REUSEPORT only if it is available on the platform. eclipse-zenoh/zenoh-pico#561) to be directly usable, which is mirrored with the fix in our px4 fork.
Updates the usage of API of Zenoh-pico within the PX4 Zenoh module
Enables /dev/urandom device driver for px4fmu-v6x

Changelog Entry

For release notes:

Feature Zenoh 1.0
Updated the Zenoh version to 1.0.
Enables /dev/urandom for fmu-v6x

Usage

On your machine, tested in ROS 2 Jazzy

# The dds plugin uses cyclonedds serialization
sudo apt install ros-jazzy-rmw-cyclonedds-cpp
# Netplan config of your ethernet https://docs.px4.io/main/en/advanced_config/ethernet_setup.html
# I used 10.41.10.1/24 on a USB Ethernet adapter

# Install the zenoh ros2dds plugin to forward the topics
mkdir -p ~/ros2/src
cd ~/ros2/src
git clone https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/ -b dev/1.0.0
git clone https://github.com/PX4/px4_msgs
cd ~/ros2
colcon build

# Start the Zenoh router with ros2dds
source ~/ros2/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
RUST_LOG=debug zenoh_bridge_ros2dds -l tcp/10.41.10.1:7447

PX4 setup

make px4-fmuv6x_zenoh upload
# Netman config https://docs.px4.io/main/en/advanced_config/ethernet_setup.html

# in NSH
zenoh config net client tcp/10.41.10.1:7447
zenoh config addpublisher vehicle_status vehicle_status
zenoh config addpublisher sensor_combined sensor_combined
zenoh start

Receive the data

source ~/ros2/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ros2 topic echo sensor_combined px4_msgs/SensorCombined
ros2 topic echo vehicle_attitude px4_msgs/VehicleAttitude

Context

This is still to be considered as highly experimental.

NOTE: Zenoh requires /dev/urandom to be available which means you should use make [platform] menuconfig and enable it under device drivers on the platform you want to use it on.

Limitations

PX4 crashes if the link goes down (at least in client mode)
I failed to use the peer mode (multicast mode)
The ROS2 DDS plugin requires the message type to be available to use ros2 topic echo
No timesync
No rate limiting
Naive CSV file for configuration, having a common configuration file between microXRCE and Zenoh would be great
FMU-to-FMU communication no distinction between own msgs and from incoming from Zenoh
No documentation yet
No message version checking - Different versions of PX4 may produce corrupted data (px4_msgs & px4 firmware sync)

.gitmodules

PetervdPerk-NXP · 2024-07-29T11:22:32Z

Great work!
Could you run make format to fix the style issues.
Also did you test the multicast option as well?
One nice thing about zenoh is that 2 PX4 instances can communicate with each-other.

Other topics are properly declared but no data is sent (sensor_combined).

You said earlier that sensor_combined doesn't work let's try to fix that before merging this, because it used to be working before.

AlexisTM · 2024-07-29T13:09:39Z

I changed the module source to the PX4 fork & formatted the project.

It is indeed needed to make it work with ROS 2 & check multicast before merging.

My main motivation is to put this work out is to avoid duplication of efforts.

PetervdPerk-NXP · 2024-07-29T14:40:05Z

Btw it seems that for some odd reason zenoh-bridge-dds isn't compatible by design with rmw_zenoh

ros2/rmw_zenoh#201

The intended use case of this rmw is not to communicate with other native Zenoh applications

Which is quite unfortunate but I think it's fixable, the whole is goal of using Zenoh on PX4 is that we can work without a bridge and we can do p2p multicast. communication.

Looking at this PR ros2/rmw_zenoh#171 we need to change the keyexpr to be compatible with rmw_zenoh
<ros_domain_id>/<topic_name>/<topic_type>/<topic_hash>

AlexisTM · 2024-07-29T15:00:27Z

I looked further. The sensor_combined topic actually works now, I built it all from scratch and probably had some options clashing last week.

I didn't dig rmw_zenoh as it is not on the correct version and there are over 300 z_ functions to review to go for 1.0.0. Good catch for the keyexpr! [but that can wait I suppose]

I tried using ros2dds as well as the dds compatibility layer with DDS without success as they both report:

(venv) ➜  PX4-Zenoh git:(pr-zenoh-1.0) ✗ ros2 topic echo /rc/vehicle_status px4_msgs/VehicleStatus
The passed message type is invalid

This was due to the wrong rmw being used. Switching to rmw_cyclonedds_cpp makes this work.

On the other hand, I successfully decode them manually using zenoh-python and idlc.

PetervdPerk-NXP · 2024-07-29T15:08:22Z

You could try if the official zenoh pico dds example also has this problem.
https://github.com/eclipse-zenoh/zenoh-demos/blob/main/zenoh-pico-dds/helloworld/z_pub_cdr.c
Then it would mean that something is wrong with the ros2dds zenoh plugin.

AlexisTM · 2024-07-29T15:18:07Z

Thank you for the hint! I will try that tomorrow :)

If you want to test the Python interface through idlc, I intentionally pushed the px4 idl file & generated library.

https://github.com/AlexisTM/zenoh-python/blob/df8029845409a3b304ba103dd4d67c00ee4819ba/examples/z_sub_px4.py#L100-L110

AlexisTM · 2024-07-30T09:35:35Z

@PetervdPerk-NXP Actually, the ROS 2 dds part works. It was my bad as I installed ros-jazzy-desktop which I supposed (wrongly) was including rmw_cyclonedds as it is the default rmw.

I will now update the description and test the multicast.

No success for the multicast :/

PetervdPerk-NXP · 2024-07-30T11:41:55Z

Indeed good point the Zenoh DDS bridge relies on CycloneDDS.

ros2 topic echo /rt/sensor_combined px4_msgs/SensorCombined

Do you have to add rt/ to be able to subscribe on ROS2?
I would expect the following to work
ros2 topic echo sensor_combined px4_msgs/SensorCombined
ROS2 should take care of it.

AlexisTM · 2024-07-30T12:56:30Z

I just tried it and confirm I need to use the namespace rt.

PetervdPerk-NXP · 2024-08-02T11:33:31Z

My guess is I have been using zenoh-bridge-ros2dds but before you were using zenoh-bridge-dds. As the rt/ is a quirk of ROS 2, ros2dds adds the prefix automagically. We are publishing (with ros2dds) to rt/rt/xxx

Indeed ros2dds didn't exist yet when I was implementing it.
I'm okay with removing the rt/ on our side.

PX4-Autopilot/src/modules/zenoh/publishers/zenoh_publisher.hpp

Lines 72 to 75 in dc7b77e

    
           // Indicates ROS2 Topic namespace 
        
           bool _rostopic; 
        
           const char *_rt_prefix = "rt/"; 
        
           const size_t _rt_prefix_offset = 3; // "rt/" are 3 chars

PX4-Autopilot/src/modules/zenoh/publishers/zenoh_publisher.cpp

Lines 64 to 74 in dc7b77e

    
           if (_rostopic) { 
        
           	strncpy(this->_topic, (char *)_rt_prefix, _rt_prefix_offset); 
        
           	if (keyexpr[0] == '/') { 
        
           		strncpy(this->_topic + _rt_prefix_offset, keyexpr + 1, sizeof(this->_topic) - _rt_prefix_offset); 
        
           	} else { 
        
           		strncpy(this->_topic + _rt_prefix_offset, keyexpr, sizeof(this->_topic) - _rt_prefix_offset); 
        
           	} 
        
           } else {

PX4-Autopilot/src/modules/zenoh/subscribers/zenoh_subscriber.hpp

Lines 76 to 79 in dc7b77e

    
           // Indicates ROS2 Topic namespace 
        
           bool _rostopic; 
        
           const char *_rt_prefix = "rt/"; 
        
           const size_t _rt_prefix_offset = 3; // "rt/" are 3 chars

PX4-Autopilot/src/modules/zenoh/subscribers/zenoh_subscriber.cpp

Lines 81 to 91 in dc7b77e

    
           if (_rostopic) { 
        
           	strncpy(this->_topic, (char *)_rt_prefix, _rt_prefix_offset); 
        
           	if (keyexpr[0] == '/') { 
        
           		strncpy(this->_topic + _rt_prefix_offset, keyexpr + 1, sizeof(this->_topic) - _rt_prefix_offset); 
        
           	} else { 
        
           		strncpy(this->_topic + _rt_prefix_offset, keyexpr, sizeof(this->_topic) - _rt_prefix_offset); 
        
           	} 
        
           } else {

Unlike zenoh-bridge-dds we were using, zenoh-bridge-ros2dds is now adding the rt/ prefix automagically.

AlexisTM · 2024-08-02T12:33:11Z

I removed the rt/ prefix (as well as the rostopic now unused switch) and we can now subscribe to the topic without the rt/ prefix on ros side.

PetervdPerk-NXP · 2024-08-02T15:17:10Z

I'm okay with merging this as is, hopefully rmw_zenoh will move soon to 1.0.0 as well.
Could update the instruction in the PR description without the rt/ prefix.

MaEtUgR · 2024-08-05T12:29:33Z

on main probably because

I guess the branch dev/1.0.0-px4 (https://github.com/PX4/zenoh-pico/commits/dev/1.0.0-px4/) was updated but the submodule commit stayed on the previous commit not containing eclipse-zenoh/zenoh-pico#560

and especially not getting advertised by GitHub because it's a commit not contained in any branch.

MaEtUgR · 2024-08-05T12:37:16Z

Is this what you wanted? #23492

* Update Zenoh-pico from 0.7.0 to 1.0.0 * Update the zenoh-pico version to use PX4/dev/1.0.0-px4 * Remove the rostopic and rt/ prefix * Unlike zenoh-bridge-dds we were using, zenoh-bridge-ros2dds is now adding the rt/ prefix automagically.

bake1912 · 2024-11-21T15:49:42Z

Hello PX4 Team,
I am encountering an issue while running the following setup:
Command: make px4_sitl_zenoh gz_x500
PX4 Commit Hash: 058fe54
I added the following Zenoh publishers:

zenoh config addpublisher fmu/out/vehicle_status vehicle_status
zenoh config addpublisher fmu/out/vehicle_global_position vehicle_global_position
zenoh config addpublisher fmu/out/vehicle_odometry vehicle_local_position
zenoh config addpublisher fmu/out/sensor_combined sensor_combined

Everything works fine when I keep the number of Zenoh publishers and subscribers under 9. However, when I try to add more publishers and subscribers, I encounter a segmentation fault like

Error CDR buffer is too small
Segmentation fault.

Could you please guide me on how to debug or resolve this issue? Is there a known limitation with the number of Zenoh publishers, or could it be related to memory allocation?

Looking forward to your advice!
Thank you

Update Zenoh-pico from 0.7.0 to 1.0.0

d94954a

PetervdPerk-NXP reviewed Jul 29, 2024

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AlexisTM added 2 commits July 29, 2024 13:45

Format

f66891d

Update the zenoh-pico version to use PX4/dev/1.0.0-px4

dc7b77e

AlexisTM force-pushed the pr-zenoh-1.0 branch from eb625fa to dc7b77e Compare July 29, 2024 11:47

Remove the rostopic and rt/ prefix

b5f1834

Unlike zenoh-bridge-dds we were using, zenoh-bridge-ros2dds is now adding the rt/ prefix automagically.

PetervdPerk-NXP approved these changes Aug 2, 2024

View reviewed changes

dagar approved these changes Aug 2, 2024

View reviewed changes

dagar merged commit abc629c into PX4:main Aug 2, 2024
87 of 91 checks passed

MaEtUgR mentioned this pull request Aug 5, 2024

zenoh-pico: update to correct dev/1.0.0-px4 branch which is advertised by GitHub #23492

Merged

AlexisTM deleted the pr-zenoh-1.0 branch November 22, 2024 11:16

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Update Zenoh-pico from 0.7.0 to 1.0.0 #23462

Update Zenoh-pico from 0.7.0 to 1.0.0 #23462

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Update Zenoh-pico from 0.7.0 to 1.0.0 #23462

Update Zenoh-pico from 0.7.0 to 1.0.0 #23462

Conversation

AlexisTM commented Jul 29, 2024 • edited Loading

Solved Problem

Solution

Changelog Entry

Usage

Context

Limitations

PetervdPerk-NXP commented Jul 29, 2024 • edited Loading

AlexisTM commented Jul 29, 2024

PetervdPerk-NXP commented Jul 29, 2024

AlexisTM commented Jul 29, 2024 • edited Loading

PetervdPerk-NXP commented Jul 29, 2024

AlexisTM commented Jul 29, 2024

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