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Avoid generating the exception when rcl_send_response times out. #1136

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merged 2 commits into from
Aug 18, 2023
Merged

Avoid generating the exception when rcl_send_response times out. #1136

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e1874b4
Avoid generating the exception when rcl_send_response times out.
fujitatomoya Jun 29, 2023
3e32309
bugfix.
fujitatomoya Jul 11, 2023
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11 changes: 10 additions & 1 deletion rclpy/src/rclpy/service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,16 @@ Service::service_send_response(py::object pyresponse, rmw_request_id_t * header)

rcl_ret_t ret = rcl_send_response(rcl_service_.get(), header, raw_ros_response.get());
if (RCL_RET_OK != ret) {
throw RCLError("failed to send response");
if (RCL_RET_TIMEOUT == ret) {
// Warning should use line number of the current stack frame
int stack_level = 1;
PyErr_WarnFormat(
PyExc_RuntimeWarning, stack_level, "failed to send response (timeout): %s",
rcl_get_error_string().str);
rcl_reset_error();
} else {
throw RCLError("failed to send response");
}
}
}

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