Failed to subscribe ROS 2 topic + open rviz when using rmw_fastdds_cpp

[atinfinity]

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

I failed to subscribe ROS 2 topic with pixi and ROS 2 Jazzy.

Reproducible example

I installed ros-jazzy-desktop by pixi.

pixi init my_ros2_project -c robostack-jazzy -c conda-forge
cd my_ros2_project
pixi add ros-jazzy-desktop

And, I published topic.

pixi run ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

But, I could NOT subscribe topic.

pixi run ros2 topic echo /turtle1/cmd_vel

My environment is as follows.

• macOS Sonoma 14.4
• pixi 0.45.0

Issue description

Failed to subscribe ROS 2 topic with pixi and ROS 2 Jazzy.

pixi run ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

pixi run ros2 topic echo /turtle1/cmd_vel

Expected behavior

I expected that I can subscribe /turtle1/cmd_vel.

Installed packages

The result of pixi list longer than 65536 characters.
So, I upload to https://gist.github.com/atinfinity/6d60e56f49e8ba6d742c07e3286dc669.

Environment info

System
------------
       Pixi version: 0.45.0
           Platform: osx-arm64
   Virtual packages: __unix=0=0
                   : __osx=14.4=0
                   : __archspec=1=m1
          Cache dir: /Users/dandelion/Library/Caches/rattler/cache
       Auth storage: /Users/dandelion/.rattler/credentials.json
   Config locations: No config files found

Global
------------
            Bin dir: /Users/dandelion/.pixi/bin
    Environment dir: /Users/dandelion/.pixi/envs
       Manifest dir: /Users/dandelion/.pixi/manifests/pixi-global.toml

Workspace
------------
               Name: my_ros2_project
            Version: 0.1.0
      Manifest file: /Users/dandelion/my_ros2_project/pixi.toml
       Last updated: 19-04-2025 10:23:12

Environments
------------
        Environment: default
           Features: default
           Channels: robostack-jazzy, conda-forge
   Dependency count: 1
       Dependencies: ros-jazzy-desktop
   Target platforms: osx-arm64

[wep21]

What happens if you add --no-daemon into the ros2 topic command?

[atinfinity]

I add --no-daemon to ros2 topic echo. And, I didn't add ros2 topic pub. Because, there is no --no-daemon option.

pixi run ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
pixi run ros2 topic echo /turtle1/cmd_vel --no-daemon

As a result, I failed to subscribe ROS 2 topic .

[wep21]

Is it possible to check the behavior again after ros2 daemon stop and ros2 daemon start?

[atinfinity]

I tried it.

$ pixi run ros2 daemon stop
The daemon is not running

$ pixi run ros2 daemon start
The daemon has been started

$ pixi run ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
publisher: beginning loop
publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=2.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=1.8))

$ pixi run ros2 topic echo /turtle1/cmd_vel
WARNING: topic [/turtle1/cmd_vel] does not appear to be published yet

[atinfinity]

I used Cyclone DDS. In this case, there is no problem.

$ pixi init my_ros2_project -c robostack-jazzy -c conda-forge
$ cd my_ros2_project
$ pixi add ros-jazzy-desktop ros-jazzy-rmw-cyclonedds-cpp
$ touch activate.sh

I add the following description to activate.sh.

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

I add the following description to pixi.toml.

[activation]
scripts = ["activate.sh"]

$ pixi run ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
publisher: beginning loop
publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=2.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=1.8))

$ pixi run ros2 topic echo /turtle1/cmd_vel
linear:
  x: 2.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.8

[wep21]

I can reproduce the issue with fastdds on macos. There is no issue with cyclonedds. On the other hand, neither dds on linux causes problems.

[wep21]

ROS 2 communication by fastdds on macos works fine with ros-kilted...

❯ pixi run ros2 run demo_nodes_cpp talker
Problem to set affinity of thread with id [0x16b37b000,dds.log] to value 0. Error 'Protocol family not supported'
2025-06-18 19:18:49.332 [SYSTEM Error] Problem to set affinity of thread with id [0x16b2ef000,dds.shm.wdog] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.333 [SYSTEM Error] Problem to set affinity of thread with id [0x16b407000,dds.ev.0] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.333 [SYSTEM Error] Problem to set affinity of thread with id [0x16b51f000,dds.udp.7400] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.333 [SYSTEM Error] Problem to set affinity of thread with id [0x16b493000,dds.udp.7410] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.334 [SYSTEM Error] Problem to set affinity of thread with id [0x16b5ab000,dds.shm.7411] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.334 [SYSTEM Error] Problem to set affinity of thread with id [0x16b637000,dds.udp.7411] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.334 [SYSTEM Error] Problem to set affinity of thread with id [0x16b6c3000,dds.asyn.0.0] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.334 [SYSTEM Error] Problem to set affinity of thread with id [0x16b74f000,dds.tls.request] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.334 [SYSTEM Error] Problem to set affinity of thread with id [0x16b7db000,dds.asyn.0.1] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.334 [SYSTEM Error] Problem to set affinity of thread with id [0x16b867000,dds.tls.replies] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.340 [SYSTEM Error] Problem to set affinity of thread with id [0x16b97f000,dds.udp.7000] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:18:49.340 [SYSTEM Error] Problem to set affinity of thread with id [0x16b8f3000,dds.shm.7000] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
[INFO] [1750241930.390874000] [talker]: Publishing: 'Hello World: 1'
[INFO] [1750241931.386822000] [talker]: Publishing: 'Hello World: 2'

❯ pixi run ros2 run demo_nodes_cpp listener
Problem to set affinity of thread with id [0x16fa43000,dds.log] to value 0. Error 'Protocol family not supported'
2025-06-18 19:19:06.558 [SYSTEM Error] Problem to set affinity of thread with id [0x16facf000,dds.ev.0] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.559 [SYSTEM Error] Problem to set affinity of thread with id [0x16fb5b000,dds.udp.7414] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.558 [SYSTEM Error] Problem to set affinity of thread with id [0x16f9b7000,dds.shm.wdog] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.559 [SYSTEM Error] Problem to set affinity of thread with id [0x16fbe7000,dds.udp.7400] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.560 [SYSTEM Error] Problem to set affinity of thread with id [0x16fc73000,dds.shm.7415] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.560 [SYSTEM Error] Problem to set affinity of thread with id [0x16fcff000,dds.udp.7415] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.560 [SYSTEM Error] Problem to set affinity of thread with id [0x16fd8b000,dds.asyn.0.0] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.560 [SYSTEM Error] Problem to set affinity of thread with id [0x16fe17000,dds.tls.request] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.560 [SYSTEM Error] Problem to set affinity of thread with id [0x16fea3000,dds.asyn.0.1] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.560 [SYSTEM Error] Problem to set affinity of thread with id [0x16ff2f000,dds.tls.replies] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.905 [SYSTEM Error] Problem to set affinity of thread with id [0x16ffbb000,dds.shm.7002] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
2025-06-18 19:19:06.906 [SYSTEM Error] Problem to set affinity of thread with id [0x170047000,dds.udp.7002] to value 0. Error 'Protocol family not supported' -> Function configure_current_thread_affinity
[INFO] [1750241947.394807000] [listener]: I heard: [Hello World: 18]
[INFO] [1750241948.392558000] [listener]: I heard: [Hello World: 19]
[INFO] [1750241949.393087000] [listener]: I heard: [Hello World: 20]

[traversaro]

ROS 2 communication by fastdds on macos works fine with ros-kilted...

Interesting, if this was an issue in fastdds, I wonder if it make sense to just refresh the fastrtps/fastdds feedstock on conda-forge (https://github.com/conda-forge/fast-dds-feedstock), and just used that one (i.e. the latest) on humble and jazzy, instead of relying on the ROS one. If indeed the test on robot-state-publisher that we added for the ros humble and jazzy rebuild catches this, it would be easier to debug the issue.

[Tobias-Fischer]

We now use cyclonedds by default; so this should be mostly a non-issue hopefully.