cherry-pick(26bcfed): retry service response send on failure#20
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cherry-pick(26bcfed): retry service response send on failure#20
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Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
KYabuuchi
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KYabuuchi
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This was referenced Mar 11, 2026
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Description
cherry-pick of this 26bcfed
Background
Originally in Humble/Galactic, there was an issue where a service server would throw an exception and terminate the node if it could not find the client when returning a response. ros2/ros2#1253
In Autoware, this became problematic when loading composable nodes into a container, and nodes frequently died during startup.
At that time, as a temporary workaround, we handled this by sending the response repeatedly.
The upstream issue mentioned above was later addressed in ros2#2276 , and therefore node termination is not expected to occur in the Jazzy branch.
This cherry-pick is expected to be unnecessary. If confirmed, this PR will be closed.
TIER IV–specific Jazzy cherry-pick list