Are services supported with EmbeddedRTPS?

[jbmouret]

Issue template

• Hardware description: M5Core2
• RTOS: FreeRTOS
• Installation type: EmbeddedRTPS
• Version or commit hash:

Steps to reproduce the issue

• I tried to compile the add_two_ints example

Expected behavior

• compilation

Actual behavior

• I get a link issue:

  /opt/esp/tools/xtensa-esp32-elf/esp-2021r2-patch5-8.4.0/xtensa-esp32-elf/bin/../lib/gcc/xtensa-esp32-elf/8.4.0/../../../../xtensa-esp32-elf/bin/ld: /tmp/project/components/micro_ros_espidf_component/libmicroros.a(librcl-service.c.obj):(.literal.rcl_service_init+0x0): undefined reference to `rmw_service_request_subscription_get_actual_qos'
  /opt/esp/tools/xtensa-esp32-elf/esp-2021r2-patch5-8.4.0/xtensa-esp32-elf/bin/../lib/gcc/xtensa-esp32-elf/8.4.0/../../../../xtensa-esp32-elf/bin/ld: /tmp/project/components/micro_ros_espidf_component/libmicroros.a(librcl-service.c.obj):(.literal.rcl_service_init+0x4): undefined reference to `rmw_service_response_publisher_get_actual_qos'
  /opt/esp/tools/xtensa-esp32-elf/esp-2021r2-patch5-8.4.0/xtensa-esp32-elf/bin/../lib/gcc/xtensa-esp32-elf/8.4.0/../../../../xtensa-esp32-elf/bin/ld: /tmp/project/components/micro_ros_espidf_component/libmicroros.a(librcl-service.c.obj): in function `rcl_service_init':
  service.c:(.text.rcl_service_init+0xcf): undefined reference to `rmw_service_request_subscription_get_actual_qos'
  /opt/esp/tools/xtensa-esp32-elf/esp-2021r2-patch5-8.4.0/xtensa-esp32-elf/bin/../lib/gcc/xtensa-esp32-elf/8.4.0/../../../../xtensa-esp32-elf/bin/ld: service.c:(.text.rcl_service_init+0xe6): undefined reference to `rmw_service_response_publisher_get_actual_qos'
  collect2: error: ld returned 1 exit status

And indeed, rmw_service_response_publisher_get_actual_qos seems to be defined nowhere.

Additional information

[pablogs9]

Hello @jbmouret, services are not supported in Embedded RTPS for micro-ROS

[jbmouret]

Thanks! so the error is expected.