Skip to content

cherry-pick(26bcfed): retry service response send on failure #20

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
KYabuuchi wants to merge 1 commit into
base: jazzy
Choose a base branch
from
Draft

cherry-pick(26bcfed): retry service response send on failure #20

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 12 additions & 1 deletion rclcpp/include/rclcpp/service.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -495,7 +495,18 @@ class Service
return;
}
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
constexpr size_t retry_num = 100;
rcl_ret_t ret_2 = RCL_RET_NOT_INIT;
for (size_t i = 1; i < retry_num; ++i) {
rclcpp::sleep_for(std::chrono::milliseconds(100));
ret_2 = rcl_send_response(get_service_handle().get(), &req_id, &response);
if (ret_2 == RCL_RET_OK) {
break;
}
}
if (ret_2 != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
}
}
}

Expand Down