Error in generated service request files

[Jopand]

I'm running a Debian 10 environment with ROS2 Foxy. I tried to make a simple Angular page calling a change_state service from ROS. It didn't work.

After some digging and debugging, I found out that it was due to an error in ./lifecycle_msgs/lifecycle_msgssrvChangeState_Request.js

The generated line 31 is: translator.constructFromPlanObject(this, other); If I send other.request as the 2nd argument, it all works: translator.constructFromPlanObject(this, other.request);

This is not just the case with the ChangeState service, but also some other homemade services. The above fix works with these services as well

[minggangw]

Please reference the example, I think it should work :)

https://github.com/RobotWebTools/ros2-web-bridge/blob/248f2ee44c525ebbd7c90e7c056ba62f3939eb02/examples/html/client.html#L42-L57

[Jopand]

Problem seems to be in rclnodejs. So I created the issue there instead

[Jopand]

Okay, I tried to use your example. I get no response at all.

To make it work, I have to call it like this

var addTwoInts = new ROSLIB.Service({ ros : $scope.ros, name : '/add_two_ints', serviceType : 'example_interfaces/AddTwoInts' });

var request = new ROSLIB.ServiceRequest({ a : 1, b : 2 }); var args = {request :request, type: 'example_interfaces/AddTwoInts'}; // Send the request addTwoInts.callService(args, function(result) { console.log('Result for service call on ' + addTwoInts.name + ': ' + result.sum); });

Cannot make it work without the 'args'. Then I reach some breakpoints on the nodejs side, but then I also have to make the change in the generated code to get a response :-S What am I doing wrong?

[minggangw]

Hi @Jopand I tested the example locally and it seem working well, so would you please run with

DEBUG=ros2-web-bridge* node bin/rosbridge.js

to check the debug output? Here is mine

  ros2-web-bridge:index ROS2 node started +0ms
  ros2-web-bridge:index Starting server on port 9090 +1ms
Websocket started on ws://localhost:9090
  ros2-web-bridge:Bridge Status level set to error (0) +0ms
  ros2-web-bridge:Bridge Web bridge 2574badb-496f-4104-b366-d545dbc1ac89 is created +1ms
(node:1837130) DeprecationWarning: Deep requiring like `const uuidv4 = require('uuid/v4');` is deprecated as of uuid@7.x. Please require the top-level module when using the Node.js CommonJS module or use ECMAScript Modules when bundling for the browser. See https://github.com/uuidjs/uuid#deep-requires-now-deprecated for more information.
  ros2-web-bridge:Bridge JSON command received: {"op":"advertise_service","type":"example_interfaces/AddTwoInts","service":"/add_two_ints"} +11ms
  ros2-web-bridge:ResourceProvider Service has been created, and the service name is /add_two_ints. +0ms
  ros2-web-bridge:Bridge Suppressed: {"op":"status","level":"none","msg":"OK"} +11ms
  ros2-web-bridge:Bridge Status level set to error (0) +2s
  ros2-web-bridge:Bridge Web bridge 6c1a357f-45c2-44d5-b84e-4929bd7055a2 is created +0ms
  ros2-web-bridge:Bridge JSON command received: {"op":"call_service","id":"call_service:/add_two_ints:1","service":"/add_two_ints","type":"example_interfaces/AddTwoInts","args":{"a":1,"b":2}} +16ms
  ros2-web-bridge:ResourceProvider Client has been created, and the service name is /add_two_ints. +2s
  ros2-web-bridge:Bridge Suppressed: {"op":"status","level":"none","msg":"OK","id":"call_service:/add_two_ints:1"} +13ms
  ros2-web-bridge:Bridge JSON command received: {"op":"service_response","service":"/add_two_ints","values":{"sum":3},"result":true,"id":"e427f873-5ec2-485f-9090-3cdc5cd47295"} +3ms
  ros2-web-bridge:Bridge Suppressed: {"op":"status","level":"none","msg":"OK","id":"e427f873-5ec2-485f-9090-3cdc5cd47295"} +2ms

[Jopand]

I just created a clean Ubuntu vm with ros2 foxy and couldn't reproduce the problem. So guess I have had a "dirty" setup before. Think we can close the issue