Dynamic-bridge throw error and exit when callback service returns false

[sshmaxime]

Bug report

Required Info:

• Operating System:
  • Docker on Ubuntu 20.04
• Installation type:
  • Binaries
• Version or commit hash:
  • Installed the bridge via ros-foxy-ros1-bridge
• DDS implementation:
  • Fast-RTPS
• Client library (if applicable):
  • Roscpp & Rclcpp

When calling a service using ROS2 as client to ROS1 as server, using the dynamic-bridge. The bridge exit after throwing an error:

terminate called after throwing an instance of 'std::runtime_error'
what():  Failed to get response from ROS 1 service /command_X

I figured out something. This happens only when the service return false, like that:

bool aarming_service(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) {
  return false;
}

If it returns true, the error does not appear and the bridge works properly.

Why is that ?

[dirk-thomas]

Unfortunately ROS 2 servers don't have a way to communicate this failure generically to the client. Until ros2/ros2#921 is implemented there is no much the ros1_bridge can do about it (except just ignoring the service call and letting the client wait forever for a response which isn't really an option either).

[sshmaxime]

Thank you ! Was not aware of that :)