Add timeout option to call_service messages #984
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sea-bass
reviewed
Dec 22, 2024
rosbridge_library/src/rosbridge_library/capabilities/call_service.py
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sea-bass
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Jan 20, 2025
| @@ -50,6 +58,12 @@ def setUp(self): | |||
| self.trigger_cb, | |||
| callback_group=self.cb_group, | |||
| ) | |||
| self.trigger_long_srv = self.node.create_service( | |||
| Trigger, | |||
| self.node.get_name() + "/trigger_long", | |||
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Can you just do "trigger_long" without the leading slash to get the same effect here?
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You mean without the node name as well? Like that
Suggested change
| self.node.get_name() + "/trigger_long", | |
| "trigger_long", |
| @@ -178,6 +178,10 @@ def protocol_parameter_handling(self): | |||
| "call_services_in_new_thread", False | |||
| ).value | |||
|
|
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| RosbridgeWebSocket.default_call_service_timeout = self.declare_parameter( | |||
| "default_call_service_timeout", 5.0 | |||
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Should the default be 5.0 or indefinite wait?
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The plan is to make it 5 seconds from Jazzy onward and indefinite when backporting it to Humble
sea-bass
approved these changes
Jan 20, 2025
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Public API Changes
Adds
timeoutoption tocall_servicemessagesDescription
If during calling a service, the Service Server dies, the ServiceCaller will get stuck waiting for response. This also makes the whole protocol stuck if
call_services_in_new_threadsoption is not set.This PR adds a response timeout parameter to ServiceCaller and adds an optional
timeoutoption tocall_servicemessages with a default value of 5 seconds.If the API change gets accepted I will finish this PR by adding tests that cover this feature