How to establish communication between ros2 and apollo cyberrt?

[Liyuanliu0011]

There is a project, the application module is using ros2, want to establish communication with cyber rt, I made a bridge, hoping to connect. However, the versions of fastrtps were inconsistent, causing the bridge to compile incorrectly. I would like to ask how to solve this problem, or can you provide some ideas? Looking forward to your reply.

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有一个项目，应用模块是使用了ros2，想和cyber rt建立通讯，自己做了一个bridge希望能连接起来。但是fastrtps的版本不一致导致bridge编译报错了。我想请问如何能够解决这个问题，或者能否提供一些思路？ 期待各位的回复。

[daohu527]

We are upgrading the version of fastrtps. Can you describe your problem in detail? Will your bridge rely on both cyber and ros2?

[Liyuanliu0011]

We are upgrading the version of fastrtps. Can you describe your problem in detail? Will your bridge rely on both cyber and ros2?

yes, both cyber and ros2 in my main.cc

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Reading symbols from ./user_navigation...
(gdb) r
Starting program: *******user_navigation**** 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
WARNING: Logging before InitGoogleLogging() is written to STDERR
E0819 15:53:21.755729 77811 param_utils.h:47] param file hadn't been loaded!!!
[New Thread 0x7ffff41fc700 (LWP 77815)]
I0819 15:53:21.756786 77811 global_data.cc:134] [user_navigation]CYBER_IP is loopback: 127.0.0.1
W0819 15:53:21.756837 77811 global_data.cc:153] [user_navigation]No match found for default IP sets: {0: 192.168.1.}; {1: 10.0.0.}; 
I0819 15:53:21.756841 77811 global_data.cc:157] [user_navigation]ipv4 addr 0: 127.0.0.1
I0819 15:53:21.756845 77811 global_data.cc:157] [user_navigation]ipv4 addr 1: 172.17.92.131
W0819 15:53:21.756847 77811 global_data.cc:159] [user_navigation]No match found for all given IP, we will use host ip: 127.0.0.1
[New Thread 0x7ffff39fb700 (LWP 77816)]
I0819 15:53:21.760066 77816 processor.cc:42] [user_navigation]processor_tid: 77816
[New Thread 0x7ffff31fa700 (LWP 77817)]
I0819 15:53:21.760458 77817 processor.cc:42] [user_navigation]processor_tid: 77817
[New Thread 0x7ffff29f9700 (LWP 77818)]
I0819 15:53:21.760799 77818 processor.cc:42] [user_navigation]processor_tid: 77818
[New Thread 0x7ffff21f8700 (LWP 77819)]
I0819 15:53:21.761106 77819 processor.cc:42] [user_navigation]processor_tid: 77819
[New Thread 0x7ffff19f7700 (LWP 77820)]
I0819 15:53:21.761381 77820 processor.cc:42] [user_navigation]processor_tid: 77820
[New Thread 0x7ffff11f6700 (LWP 77821)]
I0819 15:53:21.761536 77821 processor.cc:42] [user_navigation]processor_tid: 77821
[New Thread 0x7ffff09f5700 (LWP 77822)]
I0819 15:53:21.761809 77822 processor.cc:42] [user_navigation]processor_tid: 77822
[New Thread 0x7fffd3fff700 (LWP 77823)]
I0819 15:53:21.762060 77823 processor.cc:42] [user_navigation]processor_tid: 77823
[New Thread 0x7fffd37fe700 (LWP 77824)]
I0819 15:53:21.762267 77824 processor.cc:42] [user_navigation]processor_tid: 77824
[New Thread 0x7fffd2ffd700 (LWP 77825)]
I0819 15:53:21.762475 77825 processor.cc:42] [user_navigation]processor_tid: 77825
[New Thread 0x7fffd27fc700 (LWP 77826)]
I0819 15:53:21.762620 77826 processor.cc:42] [user_navigation]processor_tid: 77826
[New Thread 0x7fffd1ffb700 (LWP 77827)]
I0819 15:53:21.762769 77827 processor.cc:42] [user_navigation]processor_tid: 77827
[New Thread 0x7fffd17fa700 (LWP 77828)]
I0819 15:53:21.762926 77828 processor.cc:42] [user_navigation]processor_tid: 77828
[New Thread 0x7fffd0ff9700 (LWP 77829)]
I0819 15:53:21.763124 77829 processor.cc:42] [user_navigation]processor_tid: 77829
[New Thread 0x7fffb3fff700 (LWP 77830)]
I0819 15:53:21.763172 77830 processor.cc:42] [user_navigation]processor_tid: 77830
[New Thread 0x7fffb37fe700 (LWP 77831)]
I0819 15:53:21.763238 77831 processor.cc:42] [user_navigation]processor_tid: 77831
I0819 15:53:21.763274 77811 init.cc:113] [user_navigation]Register exit handle succ.
[New Thread 0x7fffb2ffd700 (LWP 77832)]
[New Thread 0x7fffb27fc700 (LWP 77833)]
[New Thread 0x7fffb1ffb700 (LWP 77834)]
[New Thread 0x7fffb17fa700 (LWP 77835)]
[New Thread 0x7fffb0ff9700 (LWP 77836)]
[New Thread 0x7fff9bfff700 (LWP 77837)]
[New Thread 0x7fff9af74700 (LWP 77838)]
E0819 15:53:21.833146 77811 param_utils.h:47] param file hadn't been loaded!!!
[New Thread 0x7fff9a773700 (LWP 77839)]
[New Thread 0x7fff99f72700 (LWP 77840)]
[New Thread 0x7fff99771700 (LWP 77841)]
2024-08-19 15:53:21.835 [RTPS_PARTICIPANT Error] Cannot create participant, because there is any transport -> Function createParticipant

Thread 1 "cyber_navi" received signal SIGSEGV, Segmentation fault.
eprosima::fastrtps::rtps::RTPSParticipantImpl::~RTPSParticipantImpl (this=0x555555da0690, __in_chrg=<optimized out>) at /apollo/docker/build/installers/Fast-RTPS/src/cpp/rtps/participant/RTPSParticipantImpl.cpp:359
359	/apollo/docker/build/installers/Fast-RTPS/src/cpp/rtps/participant/RTPSParticipantImpl.cpp: 没有那个文件或目录.
(gdb) bt
#0  eprosima::fastrtps::rtps::RTPSParticipantImpl::~RTPSParticipantImpl (this=0x555555da0690, __in_chrg=<optimized out>) at /apollo/docker/build/installers/Fast-RTPS/src/cpp/rtps/participant/RTPSParticipantImpl.cpp:359
#1  0x00007ffff481cd49 in eprosima::fastrtps::rtps::RTPSParticipantImpl::~RTPSParticipantImpl (this=0x555555da0690, __in_chrg=<optimized out>) at /apollo/docker/build/installers/Fast-RTPS/src/cpp/rtps/participant/RTPSParticipantImpl.cpp:387
#2  0x00007fff9b28cdcb in eprosima::fastrtps::rtps::RTPSDomain::createParticipant(unsigned int, bool, eprosima::fastrtps::rtps::RTPSParticipantAttributes const&, eprosima::fastrtps::rtps::RTPSParticipantListener*) () from /opt/ros/foxy/lib/libfastrtps.so.2
#3  0x00007fff9b291030 in eprosima::fastrtps::Domain::createParticipant(eprosima::fastrtps::ParticipantAttributes const&, eprosima::fastrtps::ParticipantListener*) () from /opt/ros/foxy/lib/libfastrtps.so.2
#4  0x00007ffff01c5b22 in rmw_fastrtps_shared_cpp::create_participant(char const*, unsigned long, rmw_security_options_t const*, bool, char const*, rmw_dds_common::Context*) () from /opt/ros/foxy/lib/librmw_fastrtps_shared_cpp.so
#5  0x00007ffff5ef3edd in ?? () from /opt/ros/foxy/lib/librmw_fastrtps_cpp.so
#6  0x00007ffff5ef46a0 in ?? () from /opt/ros/foxy/lib/librmw_fastrtps_cpp.so
#7  0x00007ffff5efe8cc in rmw_create_node () from /opt/ros/foxy/lib/librmw_fastrtps_cpp.so
#8  0x00007ffff4cd09d8 in rcl_node_init () from /opt/ros/foxy/lib/librcl.so
#9  0x00007ffff603d618 in rclcpp::node_interfaces::NodeBase::NodeBase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<rclcpp::Context>, rcl_node_options_t const&, bool, bool) () from /opt/ros/foxy/lib/librclcpp.so
#10 0x00007ffff6036dbe in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) () from /opt/ros/foxy/lib/librclcpp.so
#11 0x00007ffff60383d8 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) () from /opt/ros/foxy/lib/librclcpp.so
#12 0x000055555555c155 in __gnu_cxx::new_allocator<rclcpp::Node>::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__p=0x555555d9f330, this=<optimized out>) at /usr/include/c++/9/new:174
#13 0x0000555555560160 in std::allocator_traits<std::allocator<rclcpp::Node> >::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=..., __p=0x555555d9f330) at /usr/include/c++/9/bits/alloc_traits.h:481
#14 std::_Sp_counted_ptr_inplace<rclcpp::Node, std::allocator<rclcpp::Node>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=..., this=0x555555d9f320) at /usr/include/c++/9/bits/shared_ptr_base.h:548
#15 std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=..., __p=@0x7fffffffcc30: 0x0, this=0x7fffffffcc38) at /usr/include/c++/9/bits/shared_ptr_base.h:679
#16 std::__shared_ptr<rclcpp::Node, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffffcc30, __tag=...) at /usr/include/c++/9/bits/shared_ptr_base.h:1344
#17 0x000055555555b0eb in std::shared_ptr<rclcpp::Node>::shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__tag=..., this=0x7fffffffcc30) at /usr/include/c++/9/bits/move.h:74
#18 std::allocate_shared<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=...) at /usr/include/c++/9/bits/shared_ptr.h:702
#19 std::make_shared<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> () at /usr/include/c++/9/bits/shared_ptr.h:718
#20 rclcpp::Node::make_shared<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> () at /opt/ros/foxy/include/rclcpp/node.hpp:77
#21 main (argc=1, argv=0x7fffffffcf98) at /home/***/user_navigation.cpp:37
(gdb)