micro_ros_agent fails with eprosima::fastcdr::exception::NotEnoughMemoryException

[16stelter]

Hey all,

I've flashed the SD card of my Raspberry Pi 3B with the beta4 LeoOS and then installed the core2_firmware_ros2 as described. However, when trying to start the micro_ros_agent, it crashes with the following error message:

pi@leo:~$ ros2 run micro_ros_agent micro_ros_agent serial -D /dev/serial0 -b 460800 -v6
[1737130239.887182] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1737130239.891870] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
[1737130240.045756] info     | Root.cpp           | create_client            | create                 | client_key: 0x299CE561, session_id: 0x81
[1737130240.045950] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x299CE561, address: 0
[1737130240.046418] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x299CE561, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1737130240.048828] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x299CE561, len: 40, data: 
0000: 81 80 00 00 01 07 20 00 00 0A 00 01 01 03 00 00 11 00 00 00 00 01 00 00 09 00 00 00 66 69 72 6D
0020: 77 61 72 65 00 61 FF 00
[1737130240.049351] warning  | FastDDSMiddleware.cpp | create_participant_by_bin | Overriding Micro XRCE-DDS Client DOMAIN_ID | domain_id: 0
[1737130240.211146] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x299CE561, len: 12, data: 
0000: 81 00 00 00 03 01 04 00 00 02 FF FE
[1737130240.211939] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x299CE561, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[1737130240.353466] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x299CE561, participant_id: 0x000(1)
[1737130240.354996] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x299CE561, len: 14, data: 
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1737130240.355404] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x299CE561, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1737130240.415519] info     | Root.cpp           | delete_client            | delete                 | client_key: 0x299CE561
[1737130240.415970] info     | SessionManager.hpp | destroy_session          | session closed         | client_key: 0x299CE561, address: 0
[1737130240.423683] info     | Root.cpp           | create_client            | create                 | client_key: 0x355C609E, session_id: 0x81
[1737130240.423821] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x355C609E, address: 0
[1737130240.424070] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x355C609E, len: 19, data: 
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1737130240.426000] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x355C609E, len: 40, data: 
0000: 81 80 00 00 01 07 20 00 00 0A 00 01 01 03 00 00 11 00 00 00 00 01 00 00 09 00 00 00 66 69 72 6D
0020: 77 61 72 65 00 61 FF 00
[1737130240.426276] warning  | FastDDSMiddleware.cpp | create_participant_by_bin | Overriding Micro XRCE-DDS Client DOMAIN_ID | domain_id: 0
[1737130240.589444] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x355C609E, len: 12, data: 
0000: 81 00 00 00 03 01 04 00 00 02 FF FE
[1737130240.594435] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x355C609E, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
[1737130242.266356] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x355C609E, len: 16, data: 
0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException'
  what():  Not enough memory in the buffer stream
[ros2run]: Aborted

The memory usage looks fine to me, with barely 50% used. I also want to note that during flashing of the firmware, I get another error, which does not seem to cause any obvious issues, though:

Write 703 chunks at address 0x8000000...
[====================] 100.0% address:0x802be00
Writing finished!
Read 703 chunks at address 0x8000000...
[====================] 100.0% address:0x802be00
Reading finished!
Verification FAILED: Data length does not match: 179940 bytes vs 179956 bytes.
Traceback (most recent call last):
  File "/opt/ros/humble/lib/leo_fw/flash", line 29, in <module>
    leo_fw.flash_firmware(
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/leo_fw/flash.py", line 182, in flash_firmware
    write_binary(firmware_path, reset_high=True)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/leo_fw/flash.py", line 53, in write_binary
    subprocess.check_call(f"{base_cmd} -wv {binary_path}", shell=True)
  File "/usr/lib/python3.10/subprocess.py", line 369, in check_call
    raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command 'stm32loader -c rpi -f F4 -R -wv core2_firmware.bin' returned non-zero exit status 1.
Error in sys.excepthook:
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/apport_python_hook.py", line 153, in apport_excepthook
    with os.fdopen(os.open(pr_filename,
FileNotFoundError: [Errno 2] No such file or directory: '/var/crash/_opt_ros_humble_lib_leo_fw_flash.1000.crash'

Original exception was:
Traceback (most recent call last):
  File "/opt/ros/humble/lib/leo_fw/flash", line 29, in <module>
    leo_fw.flash_firmware(
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/leo_fw/flash.py", line 182, in flash_firmware
    write_binary(firmware_path, reset_high=True)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/leo_fw/flash.py", line 53, in write_binary
    subprocess.check_call(f"{base_cmd} -wv {binary_path}", shell=True)
  File "/usr/lib/python3.10/subprocess.py", line 369, in check_call
    raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command 'stm32loader -c rpi -f F4 -R -wv core2_firmware.bin' returned non-zero exit status 1.
[ros2run]: Process exited with failure 1

Thanks for the help!