long data outages with multiple network adapters

[andanders]

Operating System:

L4T 5.10.120-tegra. Ubuntu 20.04 [aarch64]

ROS version or commit hash:

humble build from source

RMW implementation (if applicable):

rmw_fastrtps_cpp

RMW Configuration (if applicable):

No response

Client library (if applicable):

No response

'ros2 doctor --report' output

ros2 doc --report

/home/nvidia/bitbucket/ros2_humble_ubuntu_20.04/ros2_humble/build/ros2doctor/ros2doctor/api/__init__.py: 154: UserWarning: Fail to call PackageReport class functions.

   NETWORK CONFIGURATION
inet         : 127.0.0.1
inet4        : ['127.0.0.1']
inet6        : ['::1']
netmask      : 255.0.0.0
device       : lo
flags        : 73<UP,RUNNING,LOOPBACK>
mtu          : 65536
inet         : 192.168.2.112
inet4        : ['192.168.2.112']
ether        : 48:b0:2d:ea:ea:da
inet6        : ['fe80::e010:c4c8:1ca5:10b9%lan1']
netmask      : 255.255.255.0
device       : lan1
flags        : 4163<MULTICAST,UP,RUNNING,BROADCAST>
mtu          : 9000
broadcast    : 192.168.2.255
inet         : 192.168.1.225
inet4        : ['192.168.1.225']
ether        : f4:3b:d8:6d:bf:73
inet6        : ['2a06:4005:4052:0:b6f9:c1ef:5a2e:c410', '2a06:4005:4052:0:7c77:5c4d:22d0:d655', 'fe80::21ca:a831:4341:2c89%wlan0']
netmask      : 255.255.255.0
device       : wlan0
flags        : 4163<MULTICAST,UP,RUNNING,BROADCAST>
mtu          : 1500
broadcast    : 192.168.1.255
inet         : 172.17.0.1
inet4        : ['172.17.0.1']
ether        : d2:9f:f0:69:e9:7b
netmask      : 255.255.0.0
device       : docker0
flags        : 4099<UP,MULTICAST,BROADCAST>
mtu          : 1500
broadcast    : 172.17.255.255
ether        : 62:37:af:df:56:ce
device       : dummy0
flags        : 130<NOARP,BROADCAST>
mtu          : 1500
ether        : 00:a0:10:02:c8:10
device       : lan2
flags        : 4099<UP,MULTICAST,BROADCAST>
mtu          : 1500
ether        : f2:82:3c:ac:ab:09
device       : l4tbr0
flags        : 4098<MULTICAST,BROADCAST>
mtu          : 1500
ether        : f2:82:3c:ac:ab:09
device       : rndis0
flags        : 4099<UP,MULTICAST,BROADCAST>
mtu          : 1500
ether        : f2:82:3c:ac:ab:0b
device       : usb0
flags        : 4099<UP,MULTICAST,BROADCAST>
mtu          : 1500

   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-5.10.120-tegra-aarch64-with-glibc2.29
release          : 5.10.120-tegra
processor        : aarch64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

   ROS 2 INFORMATION
distribution name      : humble
distribution type      : ros2
distribution status    : active
release platforms      : {'rhel': ['8'], 'ubuntu': ['jammy']}

   TOPIC LIST
topic               : none
publisher count     : 0
subscriber count    : 0

Steps to reproduce issue

temporary solution

Disable the wifi network device, then messages from ros1 to ros2 flows normally.
nmcli d down wlan0

But this is a unsustainable fix because I need the wifi device.

Is it possible to specify to ros1_bridge which network devices are allowed to use?

Hardware setup: Two linux machines connected over LAN

system setup (Machine A)

• has 2 lan ports and a wifi device
• Linux for Tegra (nvidia jetson) with ubuntu 20.04
• Noetic installed from binaries
• Humble build from source
• ros1_bridge running

system setup (Machine B)

• Ubuntu 20.04 on a custom system image
• Noetic (running roscore)

Expected behavior

One [INFO] per second

Actual behavior

There are long periods of no data being received by the ROS2 subscriber followed by sudden bursts of messages.

[INFO] [1744276666.889759424] [gnss_listener]: GNSS Listener Node Started
[INFO] [1744276925.256218689] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744276925.258532241] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744276925.260440648] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744276925.262305116] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744276925.264125773] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744276925.265979328] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744276925.267806162] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744276925.269640452] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744276925.271481687] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744276925.273303144] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
***notice the skip in timestamp***
[INFO] [1744277187.396155392] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277187.398461227] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277187.400324296] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277187.402176837] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277187.403990433] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277187.405818620] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277187.407638776] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277187.409472852] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277187.411303568] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277187.413116620] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
***notice the skip in timestamp***
[INFO] [1744277449.522386810] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277449.524614278] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277449.526480651] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277449.528289775] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277449.530098578] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277449.531886166] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277449.533654681] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277449.535458908] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277449.537240800] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700
[INFO] [1744277449.539055459] [gnss_listener]: Received GNSS message: latitude: 56.476909, longitude: 8.583140, altitude: 27.820700

Additional information

No response

[gavanderhoorn]

I'm not an expert, but I would say this is an issue of configuring rmw_fastrtps_cpp (and by extension Fast-DDS itself), not ros1_bridge.