From a2b7156b51354d5b7944fbe6be88f0d26832b06e Mon Sep 17 00:00:00 2001 From: Bernd Pfrommer Date: Tue, 28 May 2024 21:20:02 -0400 Subject: [PATCH 1/5] document procedure to kill stale ros2 daemons --- README.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/README.md b/README.md index dd7420ee..2e986fcc 100644 --- a/README.md +++ b/README.md @@ -47,6 +47,14 @@ ros2 run rmw_zenoh_cpp rmw_zenohd > Note: Without the zenoh router, nodes will not be able to discover each other since multicast discovery is disabled by default in the node's session config. Instead, nodes will receive discovery information about other peers via the zenoh router's gossip functionality. See more information on the session configs [below](#config). +### Clear stale ros2 daemons +```bash +pkill -9 -f ros && ros2 daemon stop +``` +Without this step the ROS2 CLI commands (e.g. ``ros2 node list``) may +not work properly since they could still be using a ros2 daemon that +is running on a different RMW. + ### Run the `talker` ```bash # terminal 2 From 397ee30b91dd7fbb5ca40349b27118c80ec3a436 Mon Sep 17 00:00:00 2001 From: Bernd Pfrommer Date: Wed, 29 May 2024 07:52:35 -0400 Subject: [PATCH 2/5] Update README.md Co-authored-by: Yadu Signed-off-by: Bernd Pfrommer --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 2e986fcc..34365230 100644 --- a/README.md +++ b/README.md @@ -51,7 +51,7 @@ ros2 run rmw_zenoh_cpp rmw_zenohd ```bash pkill -9 -f ros && ros2 daemon stop ``` -Without this step the ROS2 CLI commands (e.g. ``ros2 node list``) may +Without this step, ROS 2 CLI commands (e.g. `ros2 node list`) may not work properly since they could still be using a ros2 daemon that is running on a different RMW. From 62bea49defe34f122d60cde144802a9e1b13d136 Mon Sep 17 00:00:00 2001 From: Bernd Pfrommer Date: Wed, 29 May 2024 07:52:45 -0400 Subject: [PATCH 3/5] Update README.md Co-authored-by: Yadu Signed-off-by: Bernd Pfrommer --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 34365230..74dd718b 100644 --- a/README.md +++ b/README.md @@ -52,7 +52,7 @@ ros2 run rmw_zenoh_cpp rmw_zenohd pkill -9 -f ros && ros2 daemon stop ``` Without this step, ROS 2 CLI commands (e.g. `ros2 node list`) may -not work properly since they could still be using a ros2 daemon that +not work properly since they would query ROS graph information from the ROS 2 daemon that is running on a different RMW. ### Run the `talker` From fa8e3e3d7b6be03829c7cd1852faafa51ea8de96 Mon Sep 17 00:00:00 2001 From: Bernd Pfrommer Date: Wed, 29 May 2024 07:53:13 -0400 Subject: [PATCH 4/5] Update README.md Co-authored-by: Yadu Signed-off-by: Bernd Pfrommer --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 74dd718b..3d6cb279 100644 --- a/README.md +++ b/README.md @@ -53,7 +53,7 @@ pkill -9 -f ros && ros2 daemon stop ``` Without this step, ROS 2 CLI commands (e.g. `ros2 node list`) may not work properly since they would query ROS graph information from the ROS 2 daemon that -is running on a different RMW. +may have been started with different a RMW. ### Run the `talker` ```bash From 984aad458f015967685607681556fa4eba83f6f7 Mon Sep 17 00:00:00 2001 From: Bernd Pfrommer Date: Wed, 29 May 2024 07:53:43 -0400 Subject: [PATCH 5/5] Update README.md Co-authored-by: Yadu Signed-off-by: Bernd Pfrommer --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 3d6cb279..fb958e9b 100644 --- a/README.md +++ b/README.md @@ -47,7 +47,7 @@ ros2 run rmw_zenoh_cpp rmw_zenohd > Note: Without the zenoh router, nodes will not be able to discover each other since multicast discovery is disabled by default in the node's session config. Instead, nodes will receive discovery information about other peers via the zenoh router's gossip functionality. See more information on the session configs [below](#config). -### Clear stale ros2 daemons +### Terminate ROS 2 daemon started with another RMW ```bash pkill -9 -f ros && ros2 daemon stop ```