Moveit Servo won't run after humble update

[skaeringur97]

Hi, after a big update in November, I've noticed some issues with MoveIt. Most of them have been solved with help from the MoveIt guys, but the Servo seems to be an RMW issue. Here is the issue I made on the MoveIt page containing all the info. Please let me know if you have any ideas on where the problem is. Thanks.

[AndyZe]

To summarize, he's using Cyclone with this config file:

  <?xml version="1.0" encoding="UTF-8" ?>
  <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain id="any">
        <General>
            <NetworkInterfaceAddress>wifi0</NetworkInterfaceAddress>
        </General>
    </Domain>
</CycloneDDS>

That^ was taken from your latest documentation here: https://dds-demonstrators.readthedocs.io/en/latest/Teams/1.Hurricane/setupCycloneDDS.html

The error is:

[ros2_control_node-1] 1672330856.014875 [0] ros2_contr: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[ros2_control_node-1] 1672330856.014936 [0] ros2_contr: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[ros2_control_node-1] [ERROR] [1672330856.014961640] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[ros2_control_node-1] 
[ros2_control_node-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[ros2_control_node-1] This error state is being overwritten:
[ros2_control_node-1] 
[ros2_control_node-1]   'error not set, at ./src/rcl/node.c:263'
[ros2_control_node-1] 
[ros2_control_node-1] with this new error message:
[ros2_control_node-1] 
[ros2_control_node-1]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
...

[eboasson]

It is sloppy indeed ...

Am I right that you are using ROS_LOCALHOST_ONLY? Because the Cyclone RMW layer implements that by prepending a configuration fragment that uses the "new" form of specifying:

<General>
  <Interfaces>
    <NetworkInterface address="127.0.0.1"/>
  </Interfaces>
</General>

and that old form (NetworkInterfaceAddress) is not supported in a mixture of the two models. That means the problem should go away if you use:

<General>
  <Interfaces>
    <NetworkInterface name="wifi0"/>
  </Interfaces>
</General>

instead.

It is reminiscent of #1434 but subtly different, I'd say.

[poetinger]

There has not been any more feedback in a while, and the MoveIt issue is closed as fixed, so I will close this issue.