Hi,
My environment is
- Ubuntu 22
- ROS2 humble
- ArduCopter 4.5.7
I followed the instracution to use ros2 to launch STIL with
ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501```
I got the error
```shell
[INFO] [launch]: All log files can be found below /home/mscroboticslaptop19/.ros/log/2024-12-04-17-15-21-776656-HP-EliteBook-640-14-inch-G9-Notebook-PC-62311
[INFO] [launch]: Default logging verbosity is set to INFO
namespace:
transport: udp4
middleware: dds
verbose: 4
discovery: 7400
port: 2019
refs: /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml
command: arducopter
model: quad
speedup: 1
slave: 0
sim_address: 127.0.0.1
instance: 0
defaults: /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
synthetic_clock: True
command: mavproxy.py
master: tcp:127.0.0.1:5760
sitl: 127.0.0.1:5501
out: 127.0.0.1:14550
console: False
map: False
[INFO] [micro_ros_agent-1]: process started with pid [62312]
[INFO] [dds_udp.parm --synthetic-clock -2]: process started with pid [62314]
[INFO] [mavproxy.py -3]: process started with pid [62316]
[dds_udp.parm --synthetic-clock -2] Setting SIM_SPEEDUP=1.000000
[dds_udp.parm --synthetic-clock -2] Suggested EK3_DRAG_BCOEF_* = 16.288, EK3_DRAG_MCOEF = 0.209
[dds_udp.parm --synthetic-clock -2] Starting sketch 'ArduCopter'
[dds_udp.parm --synthetic-clock -2] Starting SITL input
[dds_udp.parm --synthetic-clock -2] Using Irlock at port : 9005
[dds_udp.parm --synthetic-clock -2] bind port 5760 for SERIAL0
[dds_udp.parm --synthetic-clock -2] SERIAL0 on TCP port 5760
[dds_udp.parm --synthetic-clock -2] Waiting for connection ....
[micro_ros_agent-1] [1733332521.812663] info | UDPv4AgentLinux.cpp | init | running... | port: 2019
[micro_ros_agent-1] [1733332521.813446] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[dds_udp.parm --synthetic-clock -2] Connection on serial port 5760
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Home: -35.363262 149.165237 alt=584.000000m hdg=353.000000
[dds_udp.parm --synthetic-clock -2] Smoothing reset at 0.001
[dds_udp.parm --synthetic-clock -2] bind port 5762 for SERIAL1
[dds_udp.parm --synthetic-clock -2] SERIAL1 on TCP port 5762
[dds_udp.parm --synthetic-clock -2] bind port 5763 for SERIAL2
[dds_udp.parm --synthetic-clock -2] SERIAL2 on TCP port 5763
[dds_udp.parm --synthetic-clock -2] Waiting for internal clock bits to be set (current=0x00)
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] validate_structures:513: Validating structures
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[mavproxy.py -3] Connect tcp:127.0.0.1:5760 source_system=255
[mavproxy.py -3] Log Directory:
[mavproxy.py -3] Telemetry log: mav.tlog
[mavproxy.py -3] Waiting for heartbeat from tcp:127.0.0.1:5760
[mavproxy.py -3] AP: Calibrating barometer
[mavproxy.py -3] Detected vehicle 1:1 on link 0
[mavproxy.py -3] online system 1
[mavproxy.py -3] STABILIZE> Mode STABILIZE
[mavproxy.py -3] AP: ArduCopter V4.5.7 (2a3dc4b7)
[mavproxy.py -3] AP: 0f7772b4a1384aa8ac6ac462e66decf5
[mavproxy.py -3] AP: Frame: QUAD/PLUS
[mavproxy.py -3] AP: Barometer 1 calibration complete
[mavproxy.py -3] AP: Barometer 2 calibration complete
[dds_udp.parm --synthetic-clock -2] Loaded defaults from /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm
[micro_ros_agent-1] [1733332524.258066] info | Root.cpp | create_client | create | client_key: 0xAAAABBBB, session_id: 0x81
[micro_ros_agent-1] [1733332524.258108] info | SessionManager.hpp | establish_session | session established | client_key: 0xAAAABBBB, address: 127.0.0.1:28335
[mavproxy.py -3] Init Gyro**Received 1390 parameters (ftp)
[mavproxy.py -3] Saved 1390 parameters to mav.parm
[mavproxy.py -3]
[mavproxy.py -3] AP: ArduPilot Ready
[mavproxy.py -3] AP: AHRS: DCM active
[micro_ros_agent-1] [1733332524.264890] info | ProxyClient.cpp | create_participant | participant created | client_key: 0xAAAABBBB, participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265068] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x000(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265094] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x000(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265184] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[micro_ros_agent-1] [1733332524.265255] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x001(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265263] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x001(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265329] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[micro_ros_agent-1] [1733332524.265403] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x002(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265413] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x002(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265462] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[micro_ros_agent-1] [1733332524.265493] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x003(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265502] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x003(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265552] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x003(5), publisher_id: 0x003(3)
[micro_ros_agent-1] [1733332524.265598] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x004(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265605] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x004(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265658] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x004(5), publisher_id: 0x004(3)
[micro_ros_agent-1] [1733332524.265690] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x005(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265700] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x005(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265753] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x005(5), publisher_id: 0x005(3)
[micro_ros_agent-1] [1733332524.265784] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x006(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265793] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x006(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265848] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x006(5), publisher_id: 0x006(3)
[micro_ros_agent-1] [1733332524.265888] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x007(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265897] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0xAAAABBBB, publisher_id: 0x007(3), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.265958] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0xAAAABBBB, datawriter_id: 0x007(5), publisher_id: 0x007(3)
[micro_ros_agent-1] [1733332524.266005] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x008(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.266026] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0xAAAABBBB, subscriber_id: 0x008(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.266104] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0xAAAABBBB, datareader_id: 0x008(6), subscriber_id: 0x008(4)
[micro_ros_agent-1] [1733332524.266186] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x009(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.266200] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0xAAAABBBB, subscriber_id: 0x009(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.266267] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0xAAAABBBB, datareader_id: 0x009(6), subscriber_id: 0x009(4)
[micro_ros_agent-1] [1733332524.266335] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x00A(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.266345] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0xAAAABBBB, subscriber_id: 0x00A(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.266419] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0xAAAABBBB, datareader_id: 0x00A(6), subscriber_id: 0x00A(4)
[micro_ros_agent-1] [1733332524.266481] info | ProxyClient.cpp | create_topic | topic created | client_key: 0xAAAABBBB, topic_id: 0x00B(2), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.266491] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0xAAAABBBB, subscriber_id: 0x00B(4), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.266558] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0xAAAABBBB, datareader_id: 0x00B(6), subscriber_id: 0x00B(4)
[micro_ros_agent-1] [1733332524.266763] info | ProxyClient.cpp | create_replier | replier created | client_key: 0xAAAABBBB, requester_id: 0x000(7), participant_id: 0x001(1)
[micro_ros_agent-1] [1733332524.267248] info | ProxyClient.cpp | create_replier | replier created | client_key: 0xAAAABBBB, requester_id: 0x001(7), participant_id: 0x001(1)
[mavproxy.py -3] AP: DDS: Init complete
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '8'
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '9'
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '10'
[mavproxy.py -3] AP: DDS: Topic/Sub/Reader session pass for index '11'
[mavproxy.py -3] AP: DDS: Service/Replier session pass for index '0'
[mavproxy.py -3] AP: DDS: Service/Replier session pass for index '1'
[mavproxy.py -3] AP: DDS: Initialization passed
[mavproxy.py -3] AP: RC7: SaveWaypoint LOW
[micro_ros_agent-1] terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException'
[micro_ros_agent-1] what(): Not enough memory in the buffer stream
[ERROR] [micro_ros_agent-1]: process has died [pid 62312, exit code -6, cmd '/home/mscroboticslaptop19/ros2_ws/install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent udp4 --middleware dds --verbose 4 --port 2019 --refs /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml --ros-args -r __node:=micro_ros_agent -r __ns:=/'].
[mavproxy.py -3] AP: EKF3 IMU0 initialised
[mavproxy.py -3] AP: EKF3 IMU1 initialised
[mavproxy.py -3] AP: AHRS: EKF3 active
[mavproxy.py -3] AP: DDS: No ping response, disconnecting
[mavproxy.py -3] Received 1397 parameters
[mavproxy.py -3] Saved 1390 parameters to mav.parm
[mavproxy.py -3] AP: EKF3 IMU1 tilt alignment complete
[mavproxy.py -3] AP: EKF3 IMU0 tilt alignment complete
[mavproxy.py -3] AP: EKF3 IMU1 MAG0 initial yaw alignment complete
[mavproxy.py -3] AP: EKF3 IMU0 MAG0 initial yaw alignment complete
[mavproxy.py -3] AP: GPS 1: detected as u-blox at 230400 baud
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ERROR] [dds_udp.parm --synthetic-clock -2]: process has died [pid 62314, exit code -2, cmd 'arducopter --model quad --speedup 1 --slave 0 --sim-address=127.0.0.1 --instance 0 --defaults /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/copter.parm,/home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/default_params/dds_udp.parm --synthetic-clock '].
[mavproxy.py -3] Unloading module link
[mavproxy.py -3] Unloading module log
[mavproxy.py -3] Unloading module signing
[mavproxy.py -3] Unloading module wp
[mavproxy.py -3] Unloading module rally
[mavproxy.py -3] Unloading module fence
[mavproxy.py -3] Unloading module ftp
[mavproxy.py -3] Unloading module param
[mavproxy.py -3] Unloading module relay
[mavproxy.py -3] Unloading module tuneopt
[mavproxy.py -3] Unloading module arm
[mavproxy.py -3] Unloading module mode
[mavproxy.py -3] Unloading module calibration
[mavproxy.py -3] Unloading module rc
[mavproxy.py -3] Unloading module auxopt
[mavproxy.py -3] Unloading module misc
[mavproxy.py -3] Unloading module cmdlong
[mavproxy.py -3] Unloading module battery
[mavproxy.py -3] Unloading module terrain
[mavproxy.py -3] Unloading module output
[mavproxy.py -3] Unloading module adsb
[mavproxy.py -3] Unloading module layout
The error message related to DDS is
[ERROR] [micro_ros_agent-1]: process has died [pid 62312, exit code -6, cmd '/home/mscroboticslaptop19/ros2_ws/install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent udp4 --middleware dds --verbose 4 --port 2019 --refs /home/mscroboticslaptop19/ros2_ws/install/ardupilot_sitl/share/ardupilot_sitl/config/dds_xrce_profile.xml --ros-args -r __node:=micro_ros_agent -r __ns:=/'].
I checked ROS_DOMAIN_ID and ROS_LOCALHOST_ONLY, and they are set to be 0.