ROS Serial相关失误总结

1、连接失败

Client

Failed to receive data from server 10054
Failed to receive data from server 10054
Failed to receive data from server 10054
Send failed with error 10054
Failed to receive data from server 10093
Failed to receive data from server 10093
Failed to receive data from server 10093
Send failed with error 10093
Failed to receive data from server 10093
Send failed with error 10093
Failed to receive data from server 10093

RosSerial Server

[ WARN] [1618537500.006452300]: Received message with unrecogni edtopicId (10).
[ WARN] [1618537500.007178900]: Socket asio error, closing socket: system:10009

10054 Connection was reset by the partner.：
远程主机突然重新启动或重新启动。
远程服务器的网络接口已禁用。
远程服务器上的用户帐户被禁用或限制。
登录到服务器的用户太多。
远程主机强迫关闭了一个现有的连接
访问频率过快

10093
看10093的错误，应用程序没有调用 WSAStartup，或者 WSAStartup 失败

根据github issue上面的讨论，似乎这是一个和boos相关的内核问题，我在knetic的虚拟机上测试没有问题，在windows ros melodic上偶尔会出现这个问题。
最佳处理办法是使用knetic。因为melodic确实不稳定。

2、单机虚拟机通信能成功，但内网多机通信失败

[ WARN] [1618554095.241666400]: Socket asio error, closing socket:
system:1236

分析原因，尽量不要使用string字符串传输数据，尽量使用ros自带的msg格式，不要自己定义数据格式。

参考

IBM TCP/IP errors