Ignoring errored service requests

[machinekoder]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Installation type:
  • Build from source
• Version or commit hash: 46baa889bcb9808b5b461f98faee520a90d57347
• DDS implementation: FastRTPS
• Client library (if applicable): rclcpp

Steps to reproduce issue

• Create service in ROS1
• Create client in ROS2
• Call service in client producing an unhandled exception in the ROS1 service callback

Expected behavior

• ros1_bridge displays the error message but doesn't crash/stop.

Actual behavior

• ros1_bridge stops/crashes displaying the error message

Additional information

If this shouldn't be the default behavior for some reason, a command-line argument e.g. --ignore-errors would be great.

[jacobperron]

Can you provide a SSCCE for reproducing the error? Thanks

[jacobperron]

@machinekoder Friendly ping. If you could provide reproducible example of a service and client that causes the error that would be great.

[wjwwood]

We'd appreciate help implementing a fix/enhancement for this. For now I'm putting this in the backlog as we don't have time to address it.

[dirk-thomas]

Instead of moving the ticket to the backlog this ticket needs more information.

[dirk-thomas]

@machinekoder Friendly ping.

[dirk-thomas]

Reproducible example - run the following:

• roscore
• dynamic_bridge
• ROS 1 rospy_tutorials add_to_ints_server with the server callback modified to raise an exception
• ROS 2 demo_nodes_py add_to_ints_client

Atm the rclcpp / rcl / rm API must return a response from a service call and there is no way to communicate a problem. Until that is resolved the bridge can't do anything but error in this case (or never return the service call which isn't a good option either).