Merge pull request #118 from mauropasse/mauro/irobot-humble

alsora · web-flow · commit aa99691f559e · 2023-08-25T14:44:33.000+02:00
Do not crash Executor when send_response fails due to client failure
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
@@ -555,6 +555,14 @@ class Service
   {
     rcl_ret_t ret = rcl_send_response(get_service_handle().get(), &req_id, &response);
 
+    if (ret == RCL_RET_TIMEOUT) {
+      RCLCPP_WARN(
+        node_logger_.get_child("rclcpp"),
+        "failed to send response to %s (timeout): %s",
+        this->get_service_name(), rcl_get_error_string().str);
+      rcl_reset_error();
+      return;
+    }
     if (ret != RCL_RET_OK) {
       rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
     }

Original file line number	Diff line number	Diff line change
`@@ -555,6 +555,14 @@ class Service`
`555`	`555`	`{`
`556`	`556`	`rcl_ret_t ret = rcl_send_response(get_service_handle().get(), &req_id, &response);`
`557`	`557`
	`558`	`+ if (ret == RCL_RET_TIMEOUT) {`
	`559`	`+ RCLCPP_WARN(`
	`560`	`+ node_logger_.get_child("rclcpp"),`
	`561`	`+ "failed to send response to %s (timeout): %s",`
	`562`	`+ this->get_service_name(), rcl_get_error_string().str);`
	`563`	`+ rcl_reset_error();`
	`564`	`+ return;`
	`565`	`+ }`
`558`	`566`	`if (ret != RCL_RET_OK) {`
`559`	`567`	`rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");`
`560`	`568`	`}`