关于ROS2出现Connection timed out问题

如果你在运行任何ros2命令时出现如下问题：

Traceback (most recent call last):
  File "/opt/ros/humble/bin/ros2", line 33, in <module>
    sys.exit(load_entry_point('ros2cli==0.18.10', 'console_scripts', 'ros2')())
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 91, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/command/daemon.py", line 38, in main
    return extension.main(args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/verb/daemon/status.py", line 23, in main
    if is_daemon_running(args):
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/node/daemon.py", line 75, in is_daemon_running
    return node.connected
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/node/daemon.py", line 46, in connected
    for method in self._proxy.system.listMethods()
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1122, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1464, in __request
    response = self.__transport.request(
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1166, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1178, in single_request
    http_conn = self.send_request(host, handler, request_body, verbose)
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1291, in send_request
    self.send_content(connection, request_body)
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1321, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python3.10/http/client.py", line 1278, in endheaders
    self._send_output(message_body, encode_chunked=encode_chunked)
  File "/usr/lib/python3.10/http/client.py", line 1038, in _send_output
    self.send(msg)
  File "/usr/lib/python3.10/http/client.py", line 976, in send
    self.connect()
  File "/usr/lib/python3.10/http/client.py", line 942, in connect
    self.sock = self._create_connection(
  File "/usr/lib/python3.10/socket.py", line 845, in create_connection
    raise err
  File "/usr/lib/python3.10/socket.py", line 833, in create_connection
    sock.connect(sa)
TimeoutError: [Errno 110] Connection timed out

 可能的原因是因为你之前做了一些和其他主机进行ROS2通信的问题，导致当你取消通信之后，系统上保留的是之前的守护进程，当前系统ROS2的守护进程没有运行，所以无法得到反馈。

因此解决方案是kill之前的那个守护进程：

ps aux|grep ros2

 出现类似这样的结果

zp         17484  0.7  0.1 1988900 49152 ?       Sl   10:13   0:03 /usr/bin/python3 -c from ros2cli.daemon.daemonize import main; main() --name ros2-daemon --ros-domain-id 0 --rmw-implementation rmw_cyclonedds_cpp
zp         18450  0.0  0.0  17756  2304 pts/0    R+   10:21   0:00 grep --color=auto ros2

尝试kill这个pid，因此运行，例如我这里PID是17484，因此就是sudo kill -9 17484

 sudo kill -9 $YOUR_PID

 当然如果你出现如下错误

Traceback (most recent call last):
  File "/opt/ros/humble/bin/ros2", line 33, in <module>
    sys.exit(load_entry_point('ros2cli==0.18.3', 'console_scripts', 'ros2')())
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 89, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2node/command/node.py", line 37, in main
    return extension.main(args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2node/verb/list.py", line 38, in main
    node_names = get_node_names(node=node, include_hidden_nodes=args.all)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2node/api/__init__.py", line 60, in get_node_names
    node_names_and_namespaces = node.get_node_names_and_namespaces()
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1122, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1464, in __request
    response = self.__transport.request(
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1166, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1182, in single_request
    return self.parse_response(resp)
  File "/usr/lib/python3.10/xmlrpc/client.py", line 1354, in parse_response
    return u.close()
  File "/usr/lib/python3.10/xmlrpc/client.py", line 668, in close
    raise Fault(**self._stack[0])
xmlrpc.client.Fault: <Fault 1: "<class 'rclpy._rclpy_pybind11.InvalidHandle'>:cannot use Destroyable because destruction was requested">

请参考该博客cannot use Destroyable because destruction was requested

也可运行如下代码进行尝试

ros2 daemon stop
ros2 daemon start
ros2 daemon status

希望能够帮助各位解决问题！