Executables in `examples_rclpy_minimal_client`

[marcoag]

Configuration

• OS: Ubuntu Noble 24.04
• Chip set: AMD64
• Build type: Debian
• DDS: CycloneDDS

Process

Step 1 - Check client

# StdIn - terminal 1
ros2 run examples_rclpy_minimal_client client

Step 2 - Check client_async

# StdIn - terminal 1
ros2 run examples_rclpy_minimal_client client_async

Step 3 - Check client_async_member_function

# StdIn - terminal 1
ros2 run examples_rclpy_minimal_client client_async_member_function

Step 4 - Check client_async_callback

# StdIn - terminal 1
ros2 run examples_rclpy_minimal_client client_async_callback

[mikaelarguedas]

Tested along #1261

Step 1 - Check client

Test passed ✔️

root@d8ff93e471d7:/opt/ros/jazzyros2 run examples_rclpy_minimal_client clientnt
[INFO] [1714855663.633049946] [minimal_client]: Result of add_two_ints: for 41 + 1 = 42

Step 2 - Check client_async

Test passed ✔️

[INFO] [1714855682.005823708] [minimal_client_async]: Result of add_two_ints: for 41 + 1 = 42

Step 3 - Check client_async_member_function

Test passed ✔️

[INFO] [1714855686.396758637] [minimal_client_async]: Result of add_two_ints: for 41 + 1 = 42

Step 4 - Check client_async_callback

Test failed ❌

The server processes the request but the client never processes the response and hangs forever

root@d8ff93e471d7:/opt/ros/jazzy# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
root@d8ff93e471d7:/opt/ros/jazzy# ros2 run examples_rclpy_minimal_client client_async_callback
^CTraceback (most recent call last):
  File "/opt/ros/jazzy/lib/examples_rclpy_minimal_client/client_async_callback", line 33, in <module>
    sys.exit(load_entry_point('examples-rclpy-minimal-client==0.19.3', 'console_scripts', 'client_async_callback')())
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/examples_rclpy_minimal_client/client_async_callback.py", line 60, in main
    rclpy.spin_once(node)
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 220, in spin_once
    executor.spin_once(timeout_sec=timeout_sec)
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 827, in spin_once
    self._spin_once_impl(timeout_sec)
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 811, in _spin_once_impl
    handler, entity, node = self.wait_for_ready_callbacks(
                            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 781, in wait_for_ready_callbacks
    return next(self._cb_iter)
           ^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 739, in _wait_for_ready_callbacks
    if client.handle.pointer in clients_ready:
       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
KeyboardInterrupt
[ros2run]: Interrupt

Note that with rmw_fastrtps_cpp it works:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
root@d8ff93e471d7:/opt/ros/jazzy# ros2 run examples_rclpy_minimal_client client_async_callback
[INFO] [1714856133.085582940] [minimal_client]: Result of add_two_ints: for 41 + 1 = 42

[samuel-ongzx]

Just tested this and second @mikaelarguedas findings. FastDDS works with Step 4, but CycloneDDS does not. Like what Mike mentioned, the request is processed by the service, but the client does not terminate. when using CycloneDDS.

Setup: Docker ghcr.io/sloretz/ros-testing:jazzy-desktop on AMD64, installed CycloneDDS from Debian package.

[clalancette]

See ros2/examples#382, which should fix the issue here.

[clalancette]

With that PR open, I'm going to go ahead and close this. Thank you for testing!