xmlrpc ResponseError when echoing topics with ros:humble containers #761
Description
I've got a Humble docker container that's raising xmlrpc.client.ResponseError errors when I try to echo topics. It doesn't make any difference if the topics are published inside or outside the container.
This started happening on July 3; prior to that topics appeared to echo correctly. I see there was a new release on or around July 2, so depending on the exact timing of when that release was made available and when I built the first image to exhibit this error it could be related? I definitely was able to echo topics properly with images made early in the morning (EDT) on July 2, but since pulling the latest ros:humble image things seem to have broken.
Exception details:
$ docker exec -it ${CONTAINER_HASH} bash
root@HOST:/# source ros_entrypoint.sh
root@HOST:/# ros2 topic echo /test
Traceback (most recent call last):
File "/opt/ros/humble/bin/ros2", line 33, in <module>
sys.exit(load_entry_point('ros2cli==0.18.10', 'console_scripts', 'ros2')())
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 91, in main
rc = extension.main(parser=parser, args=args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/command/topic.py", line 41, in main
return extension.main(args=args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/echo.py", line 220, in main
qos_profile = self.choose_qos(node, args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/echo.py", line 146, in choose_qos
pubs_info = node.get_publishers_info_by_topic(args.topic_name)
File "/usr/lib/python3.10/xmlrpc/client.py", line 1122, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python3.10/xmlrpc/client.py", line 1464, in __request
response = self.__transport.request(
File "/usr/lib/python3.10/xmlrpc/client.py", line 1166, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python3.10/xmlrpc/client.py", line 1182, in single_request
return self.parse_response(resp)
File "/usr/lib/python3.10/xmlrpc/client.py", line 1348, in parse_response
p.feed(data)
File "/usr/lib/python3.10/xmlrpc/client.py", line 451, in feed
self._parser.Parse(data, False)
File "../Modules/pyexpat.c", line 416, in StartElement
File "/usr/lib/python3.10/xmlrpc/client.py", line 689, in start
raise ResponseError("unknown tag %r" % tag)
xmlrpc.client.ResponseError: ResponseError("unknown tag 'rclpy.type_hash.TypeHash'")
The /test topic above was generated with ros2 topic pub inside the container:
$ docker exec -it ${CONTAINER_HASH} bash
root@HOST:/# source /ros_entrypoint.sh
root@HOST:/# ros2 topic pub /test std_msgs/String 'data: "This is a test"' -r 1
publisher: beginning loop
publishing #1: std_msgs.msg.String(data='This is a test')
...
Docker build files, and relevant files included in volumes are below:
Dockerfile:
FROM ros:humble
# Add ROS 2 testing server (create3 republisher is not on main yet)
RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2-testing/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-testing.list
# install ros packages
RUN apt-get update && apt-get install -y \
ros-${ROS_DISTRO}-irobot-create-msgs \
ros-${ROS_DISTRO}-create3-republisher \
git \
nano && \
rm -rf /var/lib/apt/lists/*
I've tried another image that does not include the testing server, and it too is exhibiting the same bug when I try to echo topics inside the container. So it's not the presence of the testing server that's causing this.
build.sh
#!/bin/bash
docker build -t create3-republisher .
Pretty standard build for a container.
docker-compose.yml
services:
create3-republisher:
image: create3-republisher:latest
restart: no
env_file:
- config/create3.env
command: ros2 launch create3_republisher create3_republisher_launch.py robot_ns:=/ republisher_ns:=/create3_repub
profiles:
- republisher
volumes:
- ./config:/opt/config
network_mode: host
I'm using docker compose --profile republisher up to start my container.
config/create3.env:
FASTRTPS_DEFAULT_PROFILES_FILE=/opt/config/fastrtps-repub.xml
export ROBOT_NAMESPACE=
export ROS_DOMAIN_ID=0
export ROS_DISCOVERY_SERVER=
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
config/fastrtps-repub.xml
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<participant profile_name="turtlebot4_republisher_profile" is_default_profile="true">
<rtps>
<builtin>
<initialPeersList>
<locator>
<udpv4>
<address>127.0.0.1</address>
</udpv4>
<udpv4>
<address>192.168.186.2</address>
</udpv4>
</locator>
</initialPeersList>
</builtin>
</rtps>
</participant>
</profiles>
</dds>
The DDS profile is to restrict traffic from the Turtlebot4 from going anywhere other than to the Raspberry Pi the container is running on; the goal is for the Pi to be republishing all of the Create3 topics/services/actions using this container.