[XMLPARSER Error] The profile's envirment can't parse to interger

[ken20020209]

Is there an already existing issue for this?

• I have searched the existing issues

Expected behavior

The profile <port>${port]<port> will get the env parameter. Then the app can run at different ports.

Current behavior

The error occurred. The Function getXMLUint receives the wrong type parameter.

Steps to reproduce

export FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml
export DISCOVERY_SERVER_PORT=11811
ros2 run topic list --no-daemon

Fast DDS version/commit

latest version:725f1c7
and
foxy original version.

Platform/Architecture

Ubuntu Focal 20.04 amd64

Transport layer

UDPv4

Additional context

ros2 foxy version

the enviroment setting ${var} can run sucess in <address>${ip}</address>

XML configuration file

<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
        <participant profile_name="super_client_profile" is_default_profile="true">
            <rtps>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
                        <discoveryServersList>
                            <RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
                                <metatrafficUnicastLocatorList>
                                    <locator>
                                        <udpv4>
                                            <address>127.0.0.1</address>
                                            <port>${DISCOVERY_SERVER_PORT}</port>
                                        </udpv4>
                                    </locator>
                                </metatrafficUnicastLocatorList>
                            </RemoteServer>
                        </discoveryServersList>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>
    </profiles>
</dds>

Relevant log output

2024-03-18 00:15:34.077 [XMLPARSER Error] <port> getXMLUint XML_ERROR! -> Function getXMLUint
2024-03-18 00:15:34.077 [XMLPARSER Error] getXMLRemoteServer was given a misformatted server's metatrafficUnicastLocatorList XML_ERROR! -> Function getXMLRemoteServer
2024-03-18 00:15:34.077 [XMLPARSER Error] getXMLList was given a misformatted RemoteServer XML_ERROR! -> Function getXMLList
2024-03-18 00:15:34.077 [XMLPARSER Error] Error parsing participant profile -> Function parseXMLParticipantProf
2024-03-18 00:15:34.077 [XMLPARSER Error] Error parsing profile's tag participant -> Function parseProfiles
2024-03-18 00:15:34.077 [XMLPARSER Error] Error parsing 'super_client_configuration_file.xml' -> Function loadXMLFile

Network traffic capture

No response

[JesusPoderoso]

Hi @ken20020209, thanks for using Fast DDS.
Processing environment variables in XML text feature was introduced in Fast DDS v2.12.0.

As long as ROS 2 Foxy is EOL, as well as Fast DDS v2.1.x (Fast DDS version attached to the distro), that feature was not included in your ROS distribution. For that reason, I am moving this ticket to the corresponding forum as per Fast DDS CONTRIBUTING guidelines.

It is going to be difficult if you want to use that feature. On the one hand, it is highly difficult to update the Fast DDS version from v2.1.x up to v2.12.x / latest Fast DDS version. A lot of features and new API have been included or changed.
I would recommend you update your ROS 2 distribution up to the latest (ROS 2 iron), which contains Fast DDS version v2.10.x, and then update the Fast DDS version up to v2.12.x.
On the other hand, another solution would be waiting a few months until ROS 2 Jazzy is released, which would contain the latest Fast DDS version (which would include the feature).

Hope it helps, and sorry for the inconvenience!

[JesusPoderoso]

There is a third option, which is to migrate to eProsima's custom ROS 2 distribution, Vulcanexus. It is the all-in-one ROS 2 toolset that contains the latest versions of ALL eProsima products, in the same distributions as ROS 2 (humble, iron...).
Vulcanexus always includes the latest Fast DDS version, no matter which ROS 2 distribution you choose.