dashboard client receive timeout reset to 1 s

[steffen-roperobotics]

Summary

The dash board client receive timeout is reset to 1 s when the client connects and the receive timeout specified by the parameter is ignored.

Introduction to the issue

Versions

• ROS Driver version: noetic
• Affected Robot Software Version(s): URSoftware 3.15.8.106339
• Affected Robot Hardware Version(s): CB3.1
• Robot Serial Number: 2019300369
• UR+ product(s) installed: None
• URCaps Software version(s): None

Impact

When loading a new installation file the dashboard client timesout and shutdown. The client does not reconnect.

Issue details

This part is important in order to clarify the severity of the issue.

Use Case and Setup

What does the setup look like and what are the objectives?

Project status at point of discovered

I just recently updated our robot ros version from kinetic to noetic and at the same time I updated the universal_robot_ros_driver to the latest commit on the master branch. After I had updated to the lastest commit on the master branch the dashboard client would timeout when loading a different installation file. I noticed that the receive timeout was reset in the dashboard client connect funciton.

Steps to Reproduce

To reproduce the error set the receive timeout to 10 s on the parameter server and connect the dashboard client. When the client is connected use the ur_hardware_interface/dashboard/load_installation service to load an installation file - the client should timeout and shutdown.

Expected Behavior

The client should not timeout when loading a different installation file and shutdown.

Actual Behavior

The client did timeout when loading a different installation file and then it shutdown.

Workaround Suggestion

I have solved the issue by moving the call setReceiveTimeout in the function DashboardClientROS::connect function to after the client::connect in order to avoid that the receive timeout is reset in the client::connect function - take a look at the pull request #596 for my solution.

[github-actions[bot]]

This issue has not been updated for a long time. If no further updates are added, this will be closed automatically. Comment on the issue to prevent automatic closing.

[fmauch]

still to test

[github-actions[bot]]

This issue has not been updated for a long time. If no further updates are added, this will be closed automatically. Comment on the issue to prevent automatic closing.

[fmauch]

still relevant