Timeout if service server not available within server_timeout_time (#905

)
RobotWebTools · Jan 31, 2024 · 48a1c62 · 48a1c62
1 parent 4d1437c
commit 48a1c62
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/rosbridge_library/src/rosbridge_library/internal/services.py b/rosbridge_library/src/rosbridge_library/internal/services.py
@@ -125,6 +125,7 @@ def call_service(
     service_type = service_names_and_types.get(service)
     if service_type is None:
         raise InvalidServiceException(service)
+
     # service_type is a tuple of types at this point; only one type is supported.
     if len(service_type) > 1:
         node_handle.get_logger().warning(f"More than one service type detected: {service_type}")
@@ -139,7 +140,10 @@ def call_service(
     client = node_handle.create_client(
         service_class, service, callback_group=ReentrantCallbackGroup()
     )
-    client.wait_for_service(server_timeout_time)
+
+    if not client.wait_for_service(server_timeout_time):
+        node_handle.destroy_client(client)
+        raise InvalidServiceException(service)
 
     future = client.call_async(inst)
     while rclpy.ok() and not future.done():

diff --git a/rosbridge_library/test/capabilities/test_service_capabilities.py b/rosbridge_library/test/capabilities/test_service_capabilities.py
@@ -116,7 +116,7 @@ def test_call_advertised_service(self):
         loop_iterations = 0
         while self.received_message is None:
             rclpy.spin_once(self.node, timeout_sec=0.1)
-            time.sleep(0.5)
+            time.sleep(0.1)
             loop_iterations += 1
             if loop_iterations > 3:
                 self.fail("Timed out waiting for service call message.")