René's URL Explorer Experiment

{"@context":"https://schema.org","@type":"DiscussionForumPosting","headline":"Connectivity Drop with More Than 5 Devices in Micro-ROS Agent on Docker (Raspberry Pi 5)","articleBody":"**Description:**\r\nI am running a micro-ROS agent in a Docker container using the prebuilt image (humble) on a Raspberry Pi 5. I have several ESP32 devices with micro-ROS (Humble). When I attempt to connect more than five devices to the agent, I experience connectivity dropouts, where some devices fail to stay connected. With 5 devices, they are successful in subscribing to topics.\r\n\r\nI suspect this issue might be related to the configuration flags in the micro-ROS build, particularly those related to client and resource limits. I came across the following parameters:\r\n\r\n- `RMW_UXRCE_MAX_CLIENTS`\r\n- `RMW_UXRCE_MAX_SUBSCRIPTIONS`\r\n- `RMW_UXRCE_MAX_SESSIONS`\r\n- `RMW_UXRCE_MAX_NODES`\r\n- `RMW_UXRCE_MAX_PUBLISHERS`\r\n- `RMW_UXRCE_MAX_SERVICES`\r\n- `RMW_UXRCE_MAX_WAIT_SETS`\r\n- `RMW_UXRCE_MAX_GUARD_CONDITION`\r\n- `RMW_UXRCE_MAX_TOPICS`\r\n\r\nThese parameters seem critical to configuring the agent, especially as I'm dealing with multiple devices where each subscribes to three topics. I suspect increasing the `RMW_UXRCE_MAX_CLIENTS` value might help, but I'm not entirely sure.\r\n\r\n**What I've Tried:**\r\n- I attempted to experiment by manually setting `RMW_UXRCE_MAX_CLIENTS` to 1 (as a test), but it did not yield the expected results, as multiple clients could still connect.\r\n- I've tried searching through the documentation, including [Vulcanexus](https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/memory_management/memory_management.html#:~:text=RMW_UXRCE_MAX_NODES%20%3A%20Maximum%20number%20of%20micro,Default%20value%3A%204) for guidance, but I haven't been able to solve the issue.\r\n\r\n**Question:**\r\nIn order to adjust these flags and rebuild the micro-ROS agent from source, do I need to modify the build configuration in the following file?\r\n- [`src/micro_ros_setup/config/host/generic/client-host-colcon.meta`](https://github.com/micro-ROS/micro_ros_setup/blob/jazzy/config/host/generic/client-host-colcon.meta)\r\n\r\nOr should the changes be made in this file instead?\r\n- [`src/uros/rmw_microxrcedds/rmw_microxredds_c/CMakeLists.txt`](https://github.com/micro-ROS/rmw_microxrcedds/blob/jazzy/rmw_microxrcedds_c/CMakeLists.txt)\r\n\r\nI believe the latter might be where the flags should be set, but I'm uncertain. Has anyone else experienced similar connectivity issues when connecting more than five devices to a micro-ROS agent on Docker? If so, how did you resolve it?\r\n\r\n(I've also noticed a colcon.meta file in the /src folder of my workspace, should the be used?)\r\n\r\nAny guidance on where exactly to set the flags for a manual source installation would be greatly appreciated - Or even the correct approach to setting up an agent to allow for more than 20 clients!\r\n\r\nThanks in advance for your help!\r\n\r\n**System Details:**\r\n- **Hardware:** Raspberry Pi 5\r\n- **Docker Image:** Prebuilt micro-ROS agent\r\n- **Micro-ROS Version:** Humble on ESP32 devices\r\n- **Number of Devices:** 5+ ESP32 devices\r\n- **Topics per Device:** 3 Topics per device\r\n\r\n**Links to Documentation:**\r\n- [Vulcanexus Documentation on Memory Management](https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/memory_management/memory_management.html)\r\n- [micro_ros_setup Repository](https://github.com/micro-ROS/micro_ros_setup/blob/jazzy/config/host/generic/client-host-colcon.meta)\r\n- [rmw_microxrcedds Repository](https://github.com/micro-ROS/rmw_microxrcedds/blob/jazzy/rmw_microxrcedds_c/CMakeLists.txt)\r\n\r\nThank you!\r\n\r\n","author":{"url":"https://github.com/SpaceBod","@type":"Person","name":"SpaceBod"},"datePublished":"2024-08-22T00:12:53.000Z","interactionStatistic":{"@type":"InteractionCounter","interactionType":"https://schema.org/CommentAction","userInteractionCount":3},"url":"https://github.com/233/micro-ROS-Agent/issues/233"}