Watchdog timer?

[tbalatka]

Not sure if this functionality is built into the microros code, but is there a way to restart the esp32 when it detects that it has lost communication with ROS2?

[hippo5329]

The state machine in loop() will try micro-ROS re-connection when the communication timeout. We can reset esp32 when re-connection waits too long.

I have an option to enable esp32 hardware watchdog in loop() when it hangs.

[hippo5329]

You may try MOVE the watchdog to agent connected,

    case AGENT_CONNECTED:
        EXECUTE_EVERY_N_MS(200, state = (RMW_RET_OK == rmw_uros_ping_agent(100, 1)) ? AGENT_CONNECTED : AGENT_DISCONNECTED;);
        if (state == AGENT_CONNECTED)
        {
            rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));

#ifdef WDT_TIMEOUT
esp_task_wdt_reset();
#endif

        }
        break;

[tbalatka]

OK. I'll give it a try and report back to you. Thank you!