Skip to content

Latest commit

 

History

History
35 lines (25 loc) · 1.31 KB

troubleshooting-nvblox-ros2.md

File metadata and controls

35 lines (25 loc) · 1.31 KB

Troubleshooting ROS 2 communication issues

If it looks like you are dropping messages or you are not receiving any messages, you might be at the right place here.

DDS tuning

In case you encounter issues with reliability of ROS 2 message delivery, you could try to increase the maximum receive buffer size:

sudo sysctl -w net.core.rmem_max=2147483647

For more information please consult the DDS tuning information of ROS 2.

RTPS profile

You can find the rtps profile of Isaac ROS here. If you encounter communication issues when launching many ROS 2 nodes simultaneously you might want to increase the maxInitialPeersRange parameter like shown below:

<license>NVIDIA Isaac ROS Software License</license>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>UdpTransport</transport_id>
            <type>UDPv4</type>
            <maxInitialPeersRange>100</maxInitialPeersRange>
        </transport_descriptor>
    </transport_descriptors>

...

After saving the modification, make sure to restart you docker container.