Dashboard client services do not respect receive_timeout parameter

[CDietzel]

I am using ROS2 Humble, and I have installed the binary driver in ubuntu 22.04 as described in the README. I am connected to a UR5 robot simulated with the CB3 URSim docker image.

After launching the ur_control.launch.py launch file, I then ran the command:

ros2 param set /dashboard_client receive_timeout 4.0

Then I tried to load a program on the UR5 dashboard with ros2 service call /dashboard_client/load_program ur_dashboard_msgs/srv/Load "filename: '/G-253/ros_control_v2.urp'"

I am currently running ROS2 from inside an agonizingly slow linux VM, so that service call sometimes takes more than 1 second to complete. Thus, I get the following error:

waiting for service to become available...
requester: making request: ur_dashboard_msgs.srv.Load_Request(filename='/G-253/ros_control_v2.urp')

response:
ur_dashboard_msgs.srv.Load_Response(answer='Did not receive answer from dashboard server in time. Disconnecting from dashboard server.(Configured timeout: 1 sec)', success=False)

As can be seen from the error, the timeout is configured at 1 second despite setting it to 4 seconds previously. I have tried setting the timeout parameter to even higher values and I still sometimes receive the same error. It is clear that the timeout is not actually being set to the desired value.

Any thoughts?

[fmauch]

Thanks for reporting this. We'll try to reproduce and investigate this further. If you encounter something in the meantime, please let us know.

[bmdyrdal]

Experiencing the same. We're setting it in the ur_control.launch.py. dashboard_client_node = Node( package="ur_robot_driver", condition=IfCondition(launch_dashboard_client) and UnlessCondition(use_fake_hardware), executable="dashboard_client", name="dashboard_client", output="screen", emulate_tty=True, parameters=[{"robot_ip": robot_ip, "receive_timeout": 240.0}], )

[bmdyrdal]

It looks like its reset to 1 second in the URCL connect function:

  // Reset read timeout to "normal" socket timeout
  tv.tv_sec = 1;
  tv.tv_usec = 0;
  TCPSocket::setReceiveTimeout(tv);

[fmauch]

This should get fixed by https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/171

[VinDp]

Since the PR has been merged and the issue is quite old, I will close this. Feel free to re-open, if still relevant!