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micro-ROS library for Platform.IO
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Unable to create two servers in micro_ros_platformio #103

Closed beta1238888 closed 1 year ago

beta1238888 commented 1 year ago

Issue template

I need two servers, but after uploading code to ESP32 and connecting to Agent, the service list shows only one server "/service1"

Steps to reproduce the issue

#include <Arduino.h>
#include <micro_ros_platformio.h>
#include <stdio.h> 
#include <rcl/rcl.h> 
#include <rcl/error_handling.h> 
#include <rclc/rclc.h> 
#include <rclc/executor.h> 
#include <std_srvs/srv/set_bool.h> 

rcl_service_t service1; 
rcl_service_t service2; 
std_srvs__srv__SetBool_Request req1; 
std_srvs__srv__SetBool_Request req2; 
std_srvs__srv__SetBool_Response res1; 
std_srvs__srv__SetBool_Response res2; 

rclc_executor_t executor; 
rclc_support_t support;
rcl_allocator_t allocator; 
rcl_node_t node; 

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}} 
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}} 

void error_loop(){ 
  while(1){
    digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
    delay(100);
  }
}

void service_callback1(const void * req, void * res){ 
  std_srvs__srv__SetBool_Request * req_in = (std_srvs__srv__SetBool_Request *) req; 
  std_srvs__srv__SetBool_Response * res_in = (std_srvs__srv__SetBool_Response *) res; 

  res_in->success = true; 
  res_in->message.data = (char*) malloc(20 * sizeof(char)); 
  sprintf(res_in->message.data, "Status: %d", req_in->data); 
  res_in->message.size = strlen(res_in->message.data); 

  digitalWrite(LED_BUILTIN, req_in->data); 
}

void service_callback2(const void * req, void * res){ 
  std_srvs__srv__SetBool_Request * req_in = (std_srvs__srv__SetBool_Request *) req; 
  std_srvs__srv__SetBool_Response * res_in = (std_srvs__srv__SetBool_Response *) res; 

  res_in->success = true; 
  res_in->message.data = (char*) malloc(20 * sizeof(char)); 
  sprintf(res_in->message.data, "Status: %d", req_in->data); 
  res_in->message.size = strlen(res_in->message.data); 

  digitalWrite(LED_BUILTIN, !req_in->data); 
}

void setup() {
  Serial.begin(115200); 
  set_microros_serial_transports(Serial);

  pinMode(LED_BUILTIN, OUTPUT); 
  digitalWrite(LED_BUILTIN, HIGH); 
  delay(2000); 

  allocator = rcl_get_default_allocator(); 

  //create init_options
  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator)); 

  // create node
  RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_node", "", &support)); 

  // create first service
  RCCHECK(rclc_service_init_default(
    &service1,
    &node,
    ROSIDL_GET_SRV_TYPE_SUPPORT(std_srvs, srv, SetBool),
    "/service1"));

  // create second service
  RCCHECK(rclc_service_init_default(
    &service2,
    &node,
    ROSIDL_GET_SRV_TYPE_SUPPORT(std_srvs, srv, SetBool),
    "/service2")); 

  // create executor
  RCCHECK(rclc_executor_init(&executor, &support.context, 2, &allocator)); 
  RCCHECK(rclc_executor_add_service(&executor, &service1, &req1, &res1, service_callback1)); 
  RCCHECK(rclc_executor_add_service(&executor, &service2, &req2, &res2, service_callback2)); 
}

void loop() {
  delay(100); 
  RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100))); 
}

Expected behavior

"/service1" and "/service2" in the service list

Actual behavior

Only "/service1", not "/service2"

Additional information

pablogs9 commented 1 year ago

Change this: https://github.com/micro-ROS/micro_ros_platformio/blob/8103c3c2bbf52bc2cae5ff95fc61f06dd5792b62/metas/colcon.meta#L8

beta1238888 commented 1 year ago

I changed " -DRMW_UXRCE_MAX_SERVICES=1 " to " -DRMW_UXRCE_MAX_SERVICES=2 " in colcon.meta , then build and upload to ESP32, but still no "/service2"

ros@ros-desktop:~$` ros2 service list
/service1
beta1238888 commented 1 year ago

After changing colcon.meta, during the build process, the terminal output:

Processing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino)
-------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html
PLATFORM: Espressif 32 (6.3.0) > Adafruit ESP32 Feather
HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash
DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa)
PACKAGES: 
 - framework-arduinoespressif32 @ 3.20009.0 (2.0.9) 
 - tool-esptoolpy @ 1.40501.0 (4.5.1) 
 - toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch5
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing pyyaml with pip at PlatformIO environment
/home/ros/.platformio/penv/bin/python -m pip install pyyaml
Requirement already satisfied: pyyaml in /home/ros/.platformio/penv/lib/python3.10/site-packages (6.0)
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/home/ros/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in /home/ros/.platformio/penv/lib/python3.10/site-packages (2.0.1)
Configuring featheresp32 with transport serial
micro-ROS already built
Found 34 compatible libraries
Scanning dependencies...
Dependency Graph
|-- micro_ros_platformio @ 0.0.1+sha.8103c3c
Building in release mode
Compiling .pio/build/featheresp32/src/main.cpp.o
Building .pio/build/featheresp32/bootloader.bin
Generating partitions .pio/build/featheresp32/partitions.bin
esptool.py v4.5.1
Creating esp32 image...
Merged 1 ELF section
Successfully created esp32 image.
Compiling .pio/build/featheresp32/libfaa/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp.o
Compiling .pio/build/featheresp32/libfaa/micro_ros_platformio/platform_code/arduino/serial/micro_ros_transport.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/Esp.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/FirmwareMSC.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/FunctionalInterrupt.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/HWCDC.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/HardwareSerial.cpp.o
Archiving .pio/build/featheresp32/libfaa/libmicro_ros_platformio.a
Indexing .pio/build/featheresp32/libfaa/libmicro_ros_platformio.a
Compiling .pio/build/featheresp32/FrameworkArduino/IPAddress.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/IPv6Address.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/MD5Builder.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/Print.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/Stream.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/StreamString.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/Tone.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/USB.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/USBCDC.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/USBMSC.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/WMath.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/WString.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/base64.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/cbuf.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-adc.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-bt.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-cpu.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-dac.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-gpio.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-i2c-slave.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-i2c.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-ledc.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-matrix.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-misc.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-psram.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-rgb-led.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-rmt.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-sigmadelta.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-spi.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-time.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-timer.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-tinyusb.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-touch.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-uart.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/firmware_msc_fat.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/libb64/cdecode.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/libb64/cencode.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/main.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/stdlib_noniso.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/wiring_pulse.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/wiring_shift.c.o
Archiving .pio/build/featheresp32/libFrameworkArduino.a
Indexing .pio/build/featheresp32/libFrameworkArduino.a
Linking .pio/build/featheresp32/firmware.elf
Retrieving maximum program size .pio/build/featheresp32/firmware.elf
Checking size .pio/build/featheresp32/firmware.elf
Advanced Memory Usage is available via "PlatformIO Home > Project Inspect"
RAM:   [=         ]  13.0% (used 42716 bytes from 327680 bytes)
Flash: [==        ]  24.8% (used 325185 bytes from 1310720 bytes)
Building .pio/build/featheresp32/firmware.bin
esptool.py v4.5.1
Creating esp32 image...
Merged 2 ELF sections
Successfully created esp32 image.
================================= [SUCCESS] Took 145.40 seconds =================================
pablogs9 commented 1 year ago

You need to change the colcon meta file and build it in a clean environment, in the log you show the micro-ROS library is not being rebuilt.

beta1238888 commented 1 year ago

Thanks for your help, I'm new to microROS and PlatformIO, what is "build it in a clean environment"? I tried doing the following: After modifying colcon.meta, I clicked "Clean" in the PlatformIO plugin: 5c9eb4d8759ae2cbc179c034f89e5d89 The terminal output:

Processing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino)
-------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
Removing .pio/build/featheresp32
Done cleaning
================================== [SUCCESS] Took 2.67 seconds ==================================

I can see the files removed in pio/build/: 28afdfccc4aab00e2eecae70c3fe689e Then I clicked Build: bd4ece2d60dac504e4e4178d6730bc07 The terminal output:

Processing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino)
-------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html
PLATFORM: Espressif 32 (6.3.0) > Adafruit ESP32 Feather
HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash
DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa)
PACKAGES: 
 - framework-arduinoespressif32 @ 3.20009.0 (2.0.9) 
 - tool-esptoolpy @ 1.40501.0 (4.5.1) 
 - toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch5
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing pyyaml with pip at PlatformIO environment
/home/ros/.platformio/penv/bin/python -m pip install pyyaml
Requirement already satisfied: pyyaml in /home/ros/.platformio/penv/lib/python3.10/site-packages (6.0)
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/home/ros/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in /home/ros/.platformio/penv/lib/python3.10/site-packages (2.0.1)
Configuring featheresp32 with transport serial
micro-ROS already built
Found 34 compatible libraries
Scanning dependencies...
Dependency Graph
|-- micro_ros_platformio @ 0.0.1+sha.8103c3c
Building in release mode
Compiling .pio/build/featheresp32/src/main.cpp.o
Building .pio/build/featheresp32/bootloader.bin
Generating partitions .pio/build/featheresp32/partitions.bin
esptool.py v4.5.1
Creating esp32 image...
Merged 1 ELF section
Successfully created esp32 image.
Compiling .pio/build/featheresp32/libfaa/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp.o
Compiling .pio/build/featheresp32/libfaa/micro_ros_platformio/platform_code/arduino/serial/micro_ros_transport.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/Esp.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/FirmwareMSC.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/FunctionalInterrupt.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/HWCDC.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/HardwareSerial.cpp.o
Archiving .pio/build/featheresp32/libfaa/libmicro_ros_platformio.a
Indexing .pio/build/featheresp32/libfaa/libmicro_ros_platformio.a
Compiling .pio/build/featheresp32/FrameworkArduino/IPAddress.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/IPv6Address.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/MD5Builder.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/Print.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/Stream.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/StreamString.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/Tone.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/USB.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/USBCDC.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/USBMSC.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/WMath.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/WString.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/base64.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/cbuf.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-adc.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-bt.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-cpu.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-dac.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-gpio.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-i2c-slave.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-i2c.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-ledc.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-matrix.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-misc.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-psram.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-rgb-led.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-rmt.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-sigmadelta.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-spi.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-time.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-timer.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-tinyusb.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-touch.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-uart.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/firmware_msc_fat.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/libb64/cdecode.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/libb64/cencode.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/main.cpp.o
Compiling .pio/build/featheresp32/FrameworkArduino/stdlib_noniso.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/wiring_pulse.c.o
Compiling .pio/build/featheresp32/FrameworkArduino/wiring_shift.c.o
Archiving .pio/build/featheresp32/libFrameworkArduino.a
Indexing .pio/build/featheresp32/libFrameworkArduino.a
Linking .pio/build/featheresp32/firmware.elf
Retrieving maximum program size .pio/build/featheresp32/firmware.elf
Checking size .pio/build/featheresp32/firmware.elf
Advanced Memory Usage is available via "PlatformIO Home > Project Inspect"
RAM:   [=         ]  13.0% (used 42716 bytes from 327680 bytes)
Flash: [==        ]  24.8% (used 325185 bytes from 1310720 bytes)
Building .pio/build/featheresp32/firmware.bin
esptool.py v4.5.1
Creating esp32 image...
Merged 2 ELF sections
Successfully created esp32 image.
================================= [SUCCESS] Took 161.49 seconds =================================

Then click Upload, after the Agent is connected, there is still only "/service1"

pablogs9 commented 1 year ago

Remove manually libmicroros folder. Is this correct @Acuadros95 ?

Acuadros95 commented 1 year ago

Yes, its correct.

You can also do it with a platformIO command: pio run --target clean_microros # Clean library Or you can try with the Clean all option of your vs code extension

beta1238888 commented 1 year ago

Thanks you all, I deleted /libmicroros and rebuilt, it worked, now both servers work. But I have a new problem, here is the code:

#include <Arduino.h>
#include <micro_ros_platformio.h>
#include <stdio.h> 
#include <rcl/rcl.h> 
#include <rcl/error_handling.h> 
#include <rclc/rclc.h> 
#include <rclc/executor.h> 
#include <bot_interfaces/srv/led_wink.h> 
#include <bot_interfaces/srv/buzzer_wink.h>

rcl_service_t service1; 
rcl_service_t service2; 

rclc_executor_t executor; 
rclc_support_t support; 
rcl_allocator_t allocator; 
rcl_node_t node; 

bot_interfaces__srv__LedWink_Request req1;
bot_interfaces__srv__LedWink_Response res1;

bot_interfaces__srv__BuzzerWink_Request req2;
bot_interfaces__srv__BuzzerWink_Response res2;

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}} 
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}} 

void error_loop(){ 
  while(1){
    digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
    delay(100);
  }
}

void service_callback1(const void * req, void * res){ 
  bot_interfaces__srv__LedWink_Request * req_in = (bot_interfaces__srv__LedWink_Request *) req; 
  bot_interfaces__srv__LedWink_Response * res_in = (bot_interfaces__srv__LedWink_Response *) res; 

  if(req_in->c == 1){
    for(int i = 0;i < 8;i++){
        digitalWrite(2, HIGH);
        delay(1000);
        digitalWrite(2, LOW);
        delay(1000);
    }
  }
  res_in->result = 1;
}

void service_callback2(const void * req, void * res){ 
  bot_interfaces__srv__BuzzerWink_Request * req_in = (bot_interfaces__srv__BuzzerWink_Request *) req; 
  bot_interfaces__srv__BuzzerWink_Response * res_in = (bot_interfaces__srv__BuzzerWink_Response *) res; 

  if(req_in->a == 1){
    for(int i = 0;i < 8;i++){
        digitalWrite(13, HIGH);
        delay(1000);
        digitalWrite(13, LOW);
        delay(1000);
    }
  }
  res_in->result_2 = 1;
}

void setup() {
  Serial.begin(115200); 
  set_microros_serial_transports(Serial);

  pinMode(2, OUTPUT);
  pinMode(13, OUTPUT);
  digitalWrite(2, LOW);
  digitalWrite(13, LOW);
  delay(2000); 

  allocator = rcl_get_default_allocator();

  //create init_options
  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator)); 

  // create node
  RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_node", "", &support)); 

  // create first service
  RCCHECK(rclc_service_init_default(
    &service1,
    &node,
    ROSIDL_GET_SRV_TYPE_SUPPORT(bot_interfaces, srv, LedWink),
    "/service1")); 

  // create second service
  RCCHECK(rclc_service_init_default(
    &service2,
    &node,
    ROSIDL_GET_SRV_TYPE_SUPPORT(bot_interfaces, srv, BuzzerWink),
    "/service2")); 

  // create executor
  RCCHECK(rclc_executor_init(&executor, &support.context, 2, &allocator)); 
  RCCHECK(rclc_executor_add_service(&executor, &service1, &req1, &res1, service_callback1)); 
  RCCHECK(rclc_executor_add_service(&executor, &service2, &req2, &res2, service_callback2)); 
}

void loop() {
  delay(100); 
  RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
}

When I request /service1 to make the LED blink, and request /service2 in another terminal, /service2 will not start responding until /service1 has finished blinking. Can micro-ROS make all servers respond at the same time?

Acuadros95 commented 1 year ago

Can micro-ROS make all servers respond at the same time?

You would need a multithread approach to achieve this, which is not available on this repository.

Also, its not a good practice to block inside micro-ROS callbacks, as the service and all the communications will be blocked until the sleeps of that callback are finished.

Closing as the initial issue is solved.