RMW-0001 ros2 communication_error ai_generated true

[ERROR] [rmw_fastrtps_cpp]: create_publisher() failed: DDS create_publisher failed

ID: ros2/rmw-fail-fast-no-interface

Also available as: JSON · Markdown · 中文
82%Fix Rate
85%Confidence
1Evidence
2023-09-15First Seen

Version Compatibility

VersionStatusIntroducedDeprecatedNotes
ROS2 Humble (Hawksbill) active — — —
ROS2 Iron (Irwini) active — — —
ROS2 Jazzy (Jalisco) active — — —

Root Cause

Fast DDS publisher creation fails when the node's topic type is not registered or the DDS domain participant is in an inconsistent state, often due to missing type support library or premature shutdown.

generic

中文

当节点的话题类型未注册或 DDS 域参与者处于不一致状态时（通常由于缺少类型支持库或过早关闭），Fast DDS 发布者创建会失败。

Official Documentation

https://docs.ros.org/en/humble/Tutorials/Intermediate/Discovering-DDS.html

Workarounds

  1. 85% success Ensure the node's topic type is explicitly registered before creating the publisher. In Python, call `node.declare_parameter('use_sim_time', False)` and then `node.create_publisher(MyMsg, 'topic', 10)` after a short sleep to allow DDS to initialize. 
    Ensure the node's topic type is explicitly registered before creating the publisher. In Python, call `node.declare_parameter('use_sim_time', False)` and then `node.create_publisher(MyMsg, 'topic', 10)` after a short sleep to allow DDS to initialize.
  2. 80% success In C++, add a small delay (e.g., `std::this_thread::sleep_for(std::chrono::milliseconds(100))`) after creating the node and before creating the publisher to ensure the DDS participant is fully ready. 
    In C++, add a small delay (e.g., `std::this_thread::sleep_for(std::chrono::milliseconds(100))`) after creating the node and before creating the publisher to ensure the DDS participant is fully ready.

中文步骤

  1. Ensure the node's topic type is explicitly registered before creating the publisher. In Python, call `node.declare_parameter('use_sim_time', False)` and then `node.create_publisher(MyMsg, 'topic', 10)` after a short sleep to allow DDS to initialize.
  2. In C++, add a small delay (e.g., `std::this_thread::sleep_for(std::chrono::milliseconds(100))`) after creating the node and before creating the publisher to ensure the DDS participant is fully ready.

Dead Ends

Common approaches that don't work:

  1. 60% fail

    Reinstalling rmw_fastrtps_cpp via apt-get doesn't help because the issue is type registration, not the middleware installation.

  2. 70% fail

    Changing RMW_IMPLEMENTATION to rmw_cyclonedds_cpp may mask the problem but doesn't fix the underlying DDS participant state, and can introduce new compatibility issues.