iuhilnehc-ynos
commented
3 years ago This patch is to:
- make ros2 client call ros1 service via ros1_bridge at the same time if ros1 service is supported with multiple threads (Multi-threaded Spinning).
running ros2 run examples_rclcpp_minimal_client client_main& ros2 run examples_rclcpp_minimal_client client_main to expect this service can serve multiple requests at the same time.
[ INFO] [1621936604.891178820]: request: x=41, y=1
[ INFO] [1621936604.891784270]: sending back response: [42]
[ INFO] [1621936604.892629346]: request: x=41, y=1
[ INFO] [1621936604.892643574]: sending back response: [42]
^^^^^^^^^//\ the timestamp of two requests are almost same.without this patch, the log as following,
[ INFO] [1621933196.546494184]: request: x=41, y=1
[ INFO] [1621933196.546513489]: sending back response: [42]
[ INFO] [1621933198.556169433]: request: x=41, y=1
^^^^^^^^^^^^^^^^^^^^^/\ 2 sec after to process the next request
[ INFO] [1621933198.556201921]: sending back response: [42]- make ros1 client call ros2 service via ros1_bridge at the same time if ros2 service is supported with multiple threads(MultiThreadExecutor and a callback with reentrant).
running rosservice call /add_two_ints '{a: 3, b: 4}'& rosservice call /add_two_ints '{a: 3, b: 4}' expect to get the service log as following
[INFO] [1621936929.275491886] [minimal_service]: request: 3 + 4
[INFO] [1621936929.275632310] [minimal_service]: request: 3 + 4without this patch, the log as following,
[INFO] [1621937408.339715576] [minimal_service]: request: 3 + 4
[INFO] [1621937410.340892268] [minimal_service]: request: 3 + 4Notice that supporting the service with running multiple threads is for not only the one service(a custom callback group with reentrant set by user) but also multiple different services.
Could somebody help to review this PR?
fujitatomoya
joelbudu
Fixes #314 Signed-off-by: Chen Lihui lihui.chen@sony.com