ROS2 examples_rclcpp_minimal_client test fail #677
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bug
Something isn't working
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related to #392, service discovery is the known issue. I confirmed that this can be observed with ros2/ros2@036eb0b. |
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The problem here is some participants cannot even find the service which is available and response the result as following. some service requesters are stuck in state just to wait until the service is ready. (which is ready)
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 run examples_rclcpp_minimal_service service_main
[INFO] [1679415531.831507848] [minimal_service]: request: 41 + 1
...
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 run examples_rclcpp_minimal_client client_main
[INFO] [1679415531.832655212] [minimal_client]: result of 41 + 1 = 42
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 node list
/minimal_service
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 service list
/add_two_ints
/minimal_service/describe_parameters
/minimal_service/get_parameter_types
/minimal_service/get_parameters
/minimal_service/list_parameters
/minimal_service/set_parameters
/minimal_service/set_parameters_atomically
root@tomoyafujita:~/ros2_ws/colcon_ws# cat test.sh
#!/bin/bash
for i in {1..35}
do
echo $i
ros2 run examples_rclcpp_minimal_client client_main --ros-args -r __node:=my_client_$i &
done
root@tomoyafujita:~/ros2_ws/colcon_ws# ./test.sh
1
2
3
4
5
6
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8
9
10
11
12
13
14
15
16
17
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21
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33
34
35
root@tomoyafujita:~/ros2_ws/colcon_ws# [INFO] [1679415726.001189401] [my_client_11]: result of 41 + 1 = 42
[INFO] [1679415726.033860994] [my_client_13]: result of 41 + 1 = 42
[INFO] [1679415726.044011517] [my_client_10]: result of 41 + 1 = 42
[INFO] [1679415726.044482451] [my_client_29]: result of 41 + 1 = 42
[INFO] [1679415726.045010030] [my_client_15]: result of 41 + 1 = 42
[INFO] [1679415726.104026266] [my_client_5]: result of 41 + 1 = 42
[INFO] [1679415726.343552874] [my_client_26]: result of 41 + 1 = 42
[INFO] [1679415726.366641854] [my_client_34]: result of 41 + 1 = 42
[INFO] [1679415726.432906268] [my_client_22]: result of 41 + 1 = 42
[INFO] [1679415726.442957139] [my_client_12]: result of 41 + 1 = 42
[INFO] [1679415726.455768454] [my_client_9]: result of 41 + 1 = 42
[INFO] [1679415726.455944256] [my_client_17]: result of 41 + 1 = 42
[INFO] [1679415726.482988199] [my_client_24]: result of 41 + 1 = 42
[INFO] [1679415726.492443702] [my_client_28]: result of 41 + 1 = 42
[INFO] [1679415726.499117249] [my_client_30]: result of 41 + 1 = 42
[INFO] [1679415726.499828156] [my_client_8]: result of 41 + 1 = 42
[INFO] [1679415726.511567688] [my_client_21]: result of 41 + 1 = 42
[INFO] [1679415726.512058944] [my_client_18]: result of 41 + 1 = 42
[INFO] [1679415726.513173598] [my_client_1]: result of 41 + 1 = 42
[INFO] [1679415726.514267817] [my_client_3]: result of 41 + 1 = 42
[INFO] [1679415726.516096605] [my_client_35]: result of 41 + 1 = 42
[INFO] [1679415726.522424238] [my_client_32]: result of 41 + 1 = 42
[INFO] [1679415726.523221009] [my_client_7]: result of 41 + 1 = 42
[INFO] [1679415726.523299414] [my_client_25]: result of 41 + 1 = 42
[INFO] [1679415726.537680232] [my_client_20]: result of 41 + 1 = 42
[INFO] [1679415726.551778461] [my_client_19]: result of 41 + 1 = 42
[INFO] [1679415726.592722411] [my_client_16]: result of 41 + 1 = 42
[INFO] [1679415727.020505285] [my_client_23]: waiting for service to appear...
[INFO] [1679415727.040310150] [my_client_2]: waiting for service to appear...
[INFO] [1679415727.059856848] [my_client_6]: waiting for service to appear...
[INFO] [1679415727.371524989] [my_client_27]: waiting for service to appear...
...<snip>
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 node list
/minimal_service
/my_client_14
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 service list
/add_two_ints
/minimal_service/describe_parameters
/minimal_service/get_parameter_types
/minimal_service/get_parameters
/minimal_service/list_parameters
/minimal_service/set_parameters
/minimal_service/set_parameters_atomically
/my_client_14/describe_parameters
/my_client_14/get_parameter_types
/my_client_14/get_parameters
/my_client_14/list_parameters
/my_client_14/set_parameters
/my_client_14/set_parameters_atomically
/my_client_2/describe_parameters
/my_client_2/get_parameter_types
/my_client_2/get_parameters
/my_client_2/list_parameters
/my_client_2/set_parameters
/my_client_2/set_parameters_atomically
/my_client_27/describe_parameters
/my_client_27/get_parameter_types
/my_client_27/get_parameters
/my_client_27/list_parameters
/my_client_27/set_parameters
/my_client_27/set_parameters_atomically
/my_client_33/describe_parameters
/my_client_33/get_parameter_types
/my_client_33/get_parameters
/my_client_33/list_parameters
/my_client_33/set_parameters
/my_client_33/set_parameters_atomically
/my_client_4/describe_parameters
/my_client_4/get_parameter_types
/my_client_4/get_parameters
/my_client_4/list_parameters
/my_client_4/set_parameters
/my_client_4/set_parameters_atomically
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 run examples_rclcpp_minimal_client client_main
[INFO] [1679415754.492335377] [minimal_client]: result of 41 + 1 = 42 |
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Bug report
Required Info:
Steps to reproduce issue
terminal 1Expected behavior
run
bash test.shsuccess and recved '[minimal_client]: result of 41 + 1 = 42' 35 times.Actual behavior
recved '[minimal_client]: result of 41 + 1 = 42' about 15 times and terminal flushs with log:
Additional information
If I switch dds to cyclonedds with cmd `export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp`, test.sh runs OK!Feature request
Feature description
Implementation considerations
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