SOLVED -> Help debugging the MicroROS / Agent configuration, ESP32

[gentijo]

Hi, I am trying to set up an ESP32 based bot running MicroROS connected to a my ROS host running on Docker. My base project has the device side subscribing to the /cmd_vel topic, where I am trying to publish messages from the tuttlesim telop_key executable on my ROS host and I am expecting to see the call back in my code being activated thru debug messaging on my device.

I see my device register with the agent on boot and I see the device spinning waiting for a message but I am not seeing the node in the node graph.
I was expecting to see a Node in the node graph representing my connected device thru the Agent.
When I issue commands via the teleop key executable, I am not seeing the call back being activated.

I am looking for insight on how to debug this ??

The project is located here GitHub - gentijo/RosBots.archive
The code as it is should run on any ESP32, I haven’t added any specific code to control the device itself yet.

The files of importance on the device are;

Main code to init the ESP32 and MicroROS
https://github.com/gentijo/MaqueenBattleBots/blob/main/microros_ws/bots/maqueen-esp32/main/main.c

Registers the subscription and prints debug on call back.
https://github.com/gentijo/MaqueenBattleBots/blob/main/microros_ws/bots/maqueen-esp32/main/exc_sub_velocity.c

I am running unmodified Agent code.

Debug output from my Device

Output from the Agent

Thank you
John

[gentijo]

Hacking around, I was able to get the Node to show up on the Node graph by setting my Domain ID = 0, for some reason it was 3, not sure if I set it or it was copied and pasted from somewhere.

Now the Node shows up on the Graph but it is not connected to the Teleop_Key node.
I also changed the namespace, it seemed to change things but not in a way that is helpful.

My device node is the one node named /turtle1, if I terminate the Agent and disconnect my device I get the 2nd graph.

Graph with Device connected and Agent running

---

Graph with Agent and Device removed

[gentijo]

Sorry for all the spam to the list, finally got it working. Working code here GitHub - gentijo/RosBots.archive at VelCmdWorking

Although the node graph +topics, looks odd to me.