Search code examples
ros2zenoh

Zenoh turtlesim tutorial

I've been following this instruction. https://zenoh.io/blog/2021-04-28-ros2-integration/ Specifically this part enter image description here

  1. Run turtlesim node VM Ubuntu machine on same macpro
  2. run the python script on same mac pro but not on Ubuntu machine
  3. I get the following error. ERROR net-0 ThreadId(07) zenoh_transport::unicast::establishment::open: Received a close message (reason INVALID) in response to an InitSyn on: tcp/[fd08:84f:e9fc:4a47:43b7:520a:ead3:218f]:50730 => tcp/[fd08:84f:e9fc:4a47:4d0:c49b:c4b2:11de]:64984 at /cargo/registry/src/index.crates.io-6f17d22bba15001f/zenoh-transport-1.0.0-beta.3/src/unicast/establishment/open.rs:239.

Does anyone know how to resolve this issue?

I expect to be able to send cmd/vel message to the turtlesim node.

Solution

  • This log (Received a close message (reason INVALID)) indicates that you're using 2 different versions of Zenoh which are not compatible.

    My guess is your bridge has version 1.0.0-beta.3 (as seen in the log), while your Zenoh Python is 0.11.0 (which is the current stable version installed by pip).
    Try to force the update of Zenoh Python to 1.0.0-beta.3 running:
    pip install eclipse-zenoh==1.0.0b3 -U