Home » Eclipse Projects » Eclipse Cyclone DDS » ROS2 Cyclone DDS error(ROS2 Using Cyclone DDS there are not communication between two computer in the same network)
| ROS2 Cyclone DDS error [message #1851541] |
Fri, 08 April 2022 01:54 |
 Flor Santiago
Messages: 1
Registered: April 2022 |
Junior Member |
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I don't know if this is the right forum for my problem.
Using ROS2 ROS2 Cyclone DDS Eclipse, I dont get communication between two computer with ROS2 foxy in the same network. Both with ubuntu 20.04
Please find below the listener node trace but I cannot see what is the error.
1649380237.025272 [9] _ros2_daem: config: Domain/TCP/WriteTimeout/#text: 2 s {}
1649380237.025276 [9] _ros2_daem: config: Domain/TCP/AlwaysUsePeeraddrForUnicast/#text: false {}
1649380237.025280 [9] _ros2_daem: config: Domain/ThreadPool/Enable/#text: false {}
1649380237.025284 [9] _ros2_daem: config: Domain/ThreadPool/Threads/#text: 4 {}
1649380237.025288 [9] _ros2_daem: config: Domain/ThreadPool/ThreadMax/#text: 8 {}
1649380237.025292 [9] _ros2_daem: config: Domain[@Id]: 9 {1}
1649380237.025311 [9] _ros2_daem: started at 1649380237.0625299 -- 2022-04-08 03:10:37+02:00
1649380237.025315 [9] _ros2_daem: udp initialized
1649380237.025503 [9] _ros2_daem: interfaces: lo udp/127.0.0.1(q1) enp7s0 udp/192.168.1.71(q9) docker0 udp/172.17.0.1(q9)
1649380237.025515 [9] _ros2_daem: selected interface: enp7s0 (index 2)
1649380237.025518 [9] _ros2_daem: presumed robust multicast support, use for everything
1649380237.025527 [9] _ros2_daem: ownip: udp/192.168.1.71
1649380237.025531 [9] _ros2_daem: extip: udp/192.168.1.71
1649380237.025534 [9] _ros2_daem: extmask: invalid/0
1649380237.025537 [9] _ros2_daem: SPDP MC: udp/239.255.0.1
1649380237.025541 [9] _ros2_daem: default MC: udp/239.255.0.1
1649380237.025543 [9] _ros2_daem: SSM support included
1649380237.025638 [9] _ros2_daem: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1649380237.025655 [9] _ros2_daem: rtps_init: uc ports: disc 0 data 0
1649380237.025659 [9] _ros2_daem: rtps_init: domainid 9 participantid -2
1649380237.025663 [9] _ros2_daem: Unicast Ports: discovery 48139 data 48139
1649380237.025672 [9] _ros2_daem: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1649380237.025683 [9] _ros2_daem: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1649380237.025691 [9] _ros2_daem: Multicast Ports: discovery 9650 data 9651
1649380237.025712 [9] _ros2_daem: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1649380237.025732 [9] _ros2_daem: add_peer_addresses: add udp/192.168.1.89:1400
1649380237.025848 [9] _ros2_daem: new_local_orphan_writer(DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant)
1649380237.025957 [9] _ros2_daem: WRITER 0:0:0:100c2 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="org::eclipse::cyclonedds::builtin::DCPSParticipant",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},transport_priority=0,adlink_writer_data_lifecycle=1}
1649380237.025972 [9] _ros2_daem: match_writer_with_readers(wr 0:0:0:100c2) scanning all rds of topic DCPSParticipant
1649380237.025983 [9] _ros2_daem: new_local_orphan_writer(DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication)
1649380237.025999 [9] _ros2_daem: WRITER 0:0:0:3c2 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="org::eclipse::cyclonedds::builtin::DCPSPublication",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},transport_priority=0,adlink_writer_data_lifecycle=1}
1649380237.026005 [9] _ros2_daem: match_writer_with_readers(wr 0:0:0:3c2) scanning all rds of topic DCPSPublication
1649380237.026009 [9] _ros2_daem: new_local_orphan_writer(DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription)
1649380237.026025 [9] _ros2_daem: WRITER 0:0:0:4c2 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="org::eclipse::cyclonedds::builtin::DCPSSubscription",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},transport_priority=0,adlink_writer_data_lifecycle=1}
1649380237.026030 [9] _ros2_daem: match_writer_with_readers(wr 0:0:0:4c2) scanning all rds of topic DCPSSubscription
1649380237.026191 [9] _ros2_daem: new_participant(f0a51001:a90a65dc:761d4b85:1c1, 0)
1649380237.026211 [9] _ros2_daem: PARTICIPANT f0a51001:a90a65dc:761d4b85:1c1 QOS={user_data=10<"enclave=/;">,adlink_entity_factory=0}
1649380237.026224 [9] _ros2_daem: new_writer(guid f0a51001:a90a65dc:761d4b85:100c2, (null).DCPSParticipant/ParticipantBuiltinTopicData)
1649380237.026229 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:100c2 @ 0x1e4f724) user 1 builtin 1
1649380237.026246 [9] _ros2_daem: WRITER f0a51001:a90a65dc:761d4b85:100c2 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="ParticipantBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=0:6148914691236517205,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_writer_data_lifecycle=1,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1649380237.026253 [9] _ros2_daem: match_writer_with_proxy_readers(wr f0a51001:a90a65dc:761d4b85:100c2) scanning proxy participants tgt=0
1649380237.026261 [9] _ros2_daem: new_writer(guid f0a51001:a90a65dc:761d4b85:4c2, (null).DCPSSubscription/SubscriptionBuiltinTopicData)
1649380237.026265 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:4c2 @ 0x1e4f9b4) user 1 builtin 2
1649380237.026281 [9] _ros2_daem: WRITER f0a51001:a90a65dc:761d4b85:4c2 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="SubscriptionBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_writer_data_lifecycle=1}
1649380237.026286 [9] _ros2_daem: match_writer_with_proxy_readers(wr f0a51001:a90a65dc:761d4b85:4c2) scanning proxy participants tgt=4c7
1649380237.026292 [9] _ros2_daem: new_writer(guid f0a51001:a90a65dc:761d4b85:3c2, (null).DCPSPublication/PublicationBuiltinTopicData)
1649380237.026300 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:3c2 @ 0x1e4fc44) user 1 builtin 3
1649380237.026315 [9] _ros2_daem: WRITER f0a51001:a90a65dc:761d4b85:3c2 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="PublicationBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_writer_data_lifecycle=1}
1649380237.026319 [9] _ros2_daem: match_writer_with_proxy_readers(wr f0a51001:a90a65dc:761d4b85:3c2) scanning proxy participants tgt=3c7
1649380237.026325 [9] _ros2_daem: new_writer(guid f0a51001:a90a65dc:761d4b85:200c2, (null).DCPSParticipantMessage/ParticipantMessageData)
1649380237.026331 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:200c2 @ 0x1e4fed4) user 1 builtin 4
1649380237.026344 [9] _ros2_daem: WRITER f0a51001:a90a65dc:761d4b85:200c2 QOS={user_data=0<>,topic_name="DCPSParticipantMessage",type_name="ParticipantMessageData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_writer_data_lifecycle=1}
1649380237.026349 [9] _ros2_daem: match_writer_with_proxy_readers(wr f0a51001:a90a65dc:761d4b85:200c2) scanning proxy participants tgt=200c7
1649380237.026354 [9] _ros2_daem: new_reader(guid f0a51001:a90a65dc:761d4b85:100c7, (null).DCPSParticipant/ParticipantBuiltinTopicData)
1649380237.026358 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:100c7 @ 0x1a46f14) user 1 builtin 5
1649380237.026374 [9] _ros2_daem: READER f0a51001:a90a65dc:761d4b85:100c7 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="ParticipantBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=0:6148914691236517205,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_writer_data_lifecycle=1,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1649380237.026381 [9] _ros2_daem: match_reader_with_proxy_writers(rd f0a51001:a90a65dc:761d4b85:100c7) scanning proxy participants tgt=0
1649380237.026385 [9] _ros2_daem: new_reader(guid f0a51001:a90a65dc:761d4b85:4c7, (null).DCPSSubscription/SubscriptionBuiltinTopicData)
1649380237.026389 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:4c7 @ 0x19c0f54) user 1 builtin 6
1649380237.026403 [9] _ros2_daem: READER f0a51001:a90a65dc:761d4b85:4c7 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="SubscriptionBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1649380237.026407 [9] _ros2_daem: match_reader_with_proxy_writers(rd f0a51001:a90a65dc:761d4b85:4c7) scanning proxy participants tgt=4c2
1649380237.026411 [9] _ros2_daem: new_reader(guid f0a51001:a90a65dc:761d4b85:3c7, (null).DCPSPublication/PublicationBuiltinTopicData)
1649380237.026418 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:3c7 @ 0x19494a4) user 1 builtin 7
1649380237.026431 [9] _ros2_daem: READER f0a51001:a90a65dc:761d4b85:3c7 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="PublicationBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1649380237.026436 [9] _ros2_daem: match_reader_with_proxy_writers(rd f0a51001:a90a65dc:761d4b85:3c7) scanning proxy participants tgt=3c2
1649380237.026440 [9] _ros2_daem: new_reader(guid f0a51001:a90a65dc:761d4b85:200c7, (null).DCPSParticipantMessage/ParticipantMessageData)
1649380237.026444 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:200c7 @ 0x19498d4) user 1 builtin 8
1649380237.026456 [9] _ros2_daem: READER f0a51001:a90a65dc:761d4b85:200c7 QOS={user_data=0<>,topic_name="DCPSParticipantMessage",type_name="ParticipantMessageData",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1649380237.026461 [9] _ros2_daem: match_reader_with_proxy_writers(rd f0a51001:a90a65dc:761d4b85:200c7) scanning proxy participants tgt=200c2
1649380237.026539 [9] _ros2_daem: new_reader(guid f0a51001:a90a65dc:761d4b85:107, __BUILT-IN PARTITION__.DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant)
1649380237.026549 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:107 @ 0x1851aa4) user 2 builtin 8
1649380237.026574 [9] _ros2_daem: READER f0a51001:a90a65dc:761d4b85:107 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="org::eclipse::cyclonedds::builtin::DCPSParticipant",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1649380237.026590 [9] _ros2_daem: match_reader_with_proxy_writers(rd f0a51001:a90a65dc:761d4b85:107) scanning all pwrs of topic DCPSParticipant
1649380237.026595 [9] _ros2_daem: match_reader_with_writers(rd f0a51001:a90a65dc:761d4b85:107) scanning all wrs of topic DCPSParticipant
1649380237.026601 [9] _ros2_daem: reader_add_local_connection(wr 0:0:0:100c2 rd f0a51001:a90a65dc:761d4b85:107)
1649380237.026612 [9] _ros2_daem: writer_add_local_connection(wr 0:0:0:100c2 rd f0a51001:a90a65dc:761d4b85:107)
1649380237.026633 [9] _ros2_daem: new_reader(guid f0a51001:a90a65dc:761d4b85:207, __BUILT-IN PARTITION__.DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription)
1649380237.026641 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:207 @ 0x1926374) user 3 builtin 8
1649380237.026656 [9] _ros2_daem: READER f0a51001:a90a65dc:761d4b85:207 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="org::eclipse::cyclonedds::builtin::DCPSSubscription",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1649380237.026674 [9] _ros2_daem: match_reader_with_proxy_writers(rd f0a51001:a90a65dc:761d4b85:207) scanning all pwrs of topic DCPSSubscription
1649380237.026678 [9] _ros2_daem: match_reader_with_writers(rd f0a51001:a90a65dc:761d4b85:207) scanning all wrs of topic DCPSSubscription
1649380237.026682 [9] _ros2_daem: reader_add_local_connection(wr 0:0:0:4c2 rd f0a51001:a90a65dc:761d4b85:207)
1649380237.026691 [9] _ros2_daem: writer_add_local_connection(wr 0:0:0:4c2 rd f0a51001:a90a65dc:761d4b85:207)
1649380237.026703 [9] _ros2_daem: new_reader(guid f0a51001:a90a65dc:761d4b85:307, __BUILT-IN PARTITION__.DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication)
1649380237.026713 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:307 @ 0x1d0cfa4) user 4 builtin 8
1649380237.026728 [9] _ros2_daem: READER f0a51001:a90a65dc:761d4b85:307 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="org::eclipse::cyclonedds::builtin::DCPSPublication",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1649380237.026739 [9] _ros2_daem: match_reader_with_proxy_writers(rd f0a51001:a90a65dc:761d4b85:307) scanning all pwrs of topic DCPSPublication
1649380237.026742 [9] _ros2_daem: match_reader_with_writers(rd f0a51001:a90a65dc:761d4b85:307) scanning all wrs of topic DCPSPublication
1649380237.026747 [9] _ros2_daem: reader_add_local_connection(wr 0:0:0:3c2 rd f0a51001:a90a65dc:761d4b85:307)
1649380237.026752 [9] _ros2_daem: writer_add_local_connection(wr 0:0:0:3c2 rd f0a51001:a90a65dc:761d4b85:307)
1649380237.027004 [9] _ros2_daem: new_writer(guid f0a51001:a90a65dc:761d4b85:403, (default).ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_)
1649380237.027013 [9] _ros2_daem: ref_participant(f0a51001:a90a65dc:761d4b85:1c1 @ 0x1a39fa0 <- f0a51001:a90a65dc:761d4b85:403 @ 0x1e52464) user 5 builtin 8
1649380237.027028 [9] _ros2_daem: WRITER f0a51001:a90a65dc:761d4b85:403 QOS={user_data=0<>,topic_name="ros_discovery_info",type_name="rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
1649380237.027038 [9] _ros2_daem: match_writer_with_proxy_readers(wr f0a51001:a90a65dc:761d4b85:403) scanning all prds of topic ros_discovery_info
1649380237.027042 [9] _ros2_daem: match_writer_with_readers(wr f0a51001:a90a65dc:761d4b85:403) scanning all rds of topic ros_discovery_info
1649380237.027044 [9] dq.builtin: SPDP ST0 2baf1001:f7a89bf:8cf2f5b9:1c1 bes c3f NEW (0x00000000-0x0000002c-0x00000000-0x00000000-0x
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