Do not return error when rcl_send_response timeout. (#408)

Signed-off-by: Tomoya Fujita <[email protected]>
ros2 · Oct 30, 2024 · cc6879f · cc6879f
1 parent 90e71f5
commit cc6879f
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/rclc/src/rclc/executor.c b/rclc/src/rclc/executor.c
@@ -1473,6 +1473,12 @@ _rclc_execute(rclc_executor_handle_t * handle)
         }
         // handle rcl-side services
         rc = rcl_send_response(handle->service, &handle->req_id, handle->data_response_msg);
+        if (rc == RCL_RET_TIMEOUT) {
+          // because of racy condition between service client and server endpoint creation,
+          // server cannot find the concerned client just yet.
+          PRINT_RCLC_WARN(rclc_execute, rcl_send_response);
+          rc = RCL_RET_OK;
+        }
         if (rc != RCL_RET_OK) {
           PRINT_RCLC_ERROR(rclc_execute, rcl_send_response);
           return rc;