Action client examples not working with CycloneDDS

[hidmic]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04, both AMD64 and ARM64
• Installation type:
  • Binaries and from source
• Version or commit hash:
  • dad93c3 (ROS 2 workspace at this ros2.repos)
• DDS implementation:
  • CycloneDDS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

1. On one terminal, run:

RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run examples_rclcpp_minimal_action_server action_server_not_composable

2. On another terminal, run:

RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run examples_rclcpp_minimal_action_client action_client_not_composable

Expected behavior

Action client sends goal to the action server, receives feedback and result, and finally self terminates.

Actual behavior

Action client hangs right after sending the goal.

Additional information

Action clients seem to be blocking forever at rclcpp::spin_until_future_complete().

[dirk-thomas]

It works for me using the current Debian packages from the testing repo.

[hidmic]

Hmm, I just built everything from source, from scratch, and action client examples still hang. Maybe someone else can disambiguate?

[jacobperron]

I can reproduce with a from-source build, but it works fine using the Eloquent debs (ie all executables running from binaries).

[hidmic]

Hmm could the difference be due to CMAKE_BUILD_TYPE=None vs. CMAKE_BUILD_TYPE=Release?

[dirk-thomas]

I used CMAKE_BUILD_TYPE=Debug.

[wjwwood]

Maybe related to ros2/rmw_cyclonedds#74

[jrgnicho]

I'm having a similar issue, however I'm calling future.wait_for(timeout); from the client after sending the asynchronous goal and it times out even though my server does call the goal_handle->succeed(...) function long before the timeout elapses.

[jrgnicho]

It looks like in order to prevent the action client (and server) from hanging it's necessary to spawn a multithreaded executor and as many callback groups as there are clients or servers as shown in the multithreaed executor example

[sloretz]

I can't reproduce on master having built with CMAKE_BUILD_TYPE=Debug

$  RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run examples_rclcpp_minimal_action_server action_server_not_composable
1608681598.423987 [0] action_ser: using network interface enp3s0 (udp/192.168.1.150) selected arbitrarily from: enp3s0, docker0
[INFO] [1608681606.864051515] [server]: Got goal request with order 10
[INFO] [1608681606.864578896] [server]: Executing goal
[INFO] [1608681606.864728112] [server]: Publish Feedback
[INFO] [1608681607.865073088] [server]: Publish Feedback
[INFO] [1608681608.865039250] [server]: Publish Feedback
[INFO] [1608681609.865129641] [server]: Publish Feedback
[INFO] [1608681610.865143539] [server]: Publish Feedback
[INFO] [1608681611.865057456] [server]: Publish Feedback
[INFO] [1608681612.865084460] [server]: Publish Feedback
[INFO] [1608681613.864887598] [server]: Publish Feedback
[INFO] [1608681614.864928344] [server]: Publish Feedback
[INFO] [1608681615.865677314] [server]: Goal Succeeded

$ RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run examples_rclcpp_minimal_action_client action_client_not_composable
1608681606.846930 [0] action_cli: using network interface enp3s0 (udp/192.168.1.150) selected arbitrarily from: enp3s0, docker0
[INFO] [1608681606.863703627] [minimal_action_client]: Sending goal
[INFO] [1608681606.865485261] [minimal_action_client]: Waiting for result
[INFO] [1608681615.866202732] [minimal_action_client]: result received
[INFO] [1608681615.866384170] [minimal_action_client]: 0
[INFO] [1608681615.866477418] [minimal_action_client]: 1
[INFO] [1608681615.866550782] [minimal_action_client]: 1
[INFO] [1608681615.866675816] [minimal_action_client]: 2
[INFO] [1608681615.866756165] [minimal_action_client]: 3
[INFO] [1608681615.866825524] [minimal_action_client]: 5
[INFO] [1608681615.866893118] [minimal_action_client]: 8
[INFO] [1608681615.866962232] [minimal_action_client]: 13
[INFO] [1608681615.867030766] [minimal_action_client]: 21
[INFO] [1608681615.867098315] [minimal_action_client]: 34
[INFO] [1608681615.867165039] [minimal_action_client]: 55

[clalancette]

I also can't reproduce on the latest (though I don't have a Debug build handy).

@hidmic Can you confirm @sloretz 's findings on the latest, and close this out if appropriate?

[hidmic]

Indeed. It works now. Thanks and sorry for the delay!