RTPS_TRANSPORT_SHM Error

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Hyounjun Oh
Hyounjun Oh on 15 May 2022
Hi there
I'm using ROStoolbox and ROS2 foxy, Ubuntu20.04LTS, Matlab 2022a.
I want to see my internal node and Matlab node in the Terminal.
So I have set the same ROS_DOMAIN_ID and RMWImplements for both nodes.
But when I type the command 'ros2 node list' to check my nodes It gives me an error.
2022-05-16 01:01:53.008 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port8162: open_and_lock_file failed -> Function open_port_internal
2022-05-16 01:01:53.009 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port8164: open_and_lock_file failed -> Function open_port_internal
2022-05-16 01:01:53.009 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port8163: open_and_lock_file failed -> Function open_port_internal
2022-05-16 01:01:53.009 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port8165: open_and_lock_file failed -> Function open_port_internal
I expect that command 'ros2 node list' will show me the iternalROS node and Matlab node.
How can i solve this problem?
Thank you for reading my error log and If there are someone who know about this, It will be helpful to me.
  2 Comments
Hyounjun Oh
Hyounjun Oh on 17 May 2022
Thank you so much! It solved my problem : >

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Answers (1)

Jagadeesh Konakalla
Jagadeesh Konakalla on 2 Aug 2022
This issue is observed when trying to communicate MATLAB R2022a ROS Toolbox (uses Fast-DDS 2.1.1) with other version of FastDDS in ROS 2 Foxy terminal. This is an open issue in FastDDS.
As a workaround to see the ros2 node list, please run the below commands in ROS 2 Foxy terminal:
  1. ros2 daemon stop.
  2. export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp.
  3. ros2 node list
Try step 3 to see the list of nodes running in both MATLAB and Foxy terminal.(execute the step 1-2 times incase you don't see nodes for the first time).

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