From 3e10b01e874ddbb136308be8a40f25b6184a9ddc Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date: Fri, 18 Aug 2023 09:15:04 -0700
Subject: [PATCH] Do not crash Executor when send_response fails due to client
failure. (#2276)
* Do not crash Executor when send_response fails due to client failure.
Related to https://github.com/ros2/ros2/issues/1253
It is not sane that a faulty client can crash our service Executor, as
discussed in the referred issue, if the client is not setup properly,
send_response may return RCL_RET_TIMEOUT, we should not throw an error
in this case.
Signed-off-by: Zang MingJie <zealot0630@gmail.com>
* Update rclcpp/include/rclcpp/service.hpp
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Zang MingJie <zealot0630@gmail.com>
* address review comments.
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---------
Signed-off-by: Zang MingJie <zealot0630@gmail.com>
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Co-authored-by: Zang MingJie <zealot0630@gmail.com>
(cherry picked from commit fbe8f28cd13710c5c643a4e7149e509f3a952677)
---
rclcpp/include/rclcpp/service.hpp | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index 3cfc11e9ca..af00241c31 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -482,6 +482,14 @@ 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");
}