Fix lost responses issue (ros2#76)

Signed-off-by: Simon Hoinkis <[email protected]>
ApexAI · Jan 5, 2023 · 57cc79a · 57cc79a
1 parent 56cc840
commit 57cc79a
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/rmw_iceoryx_cpp/src/rmw_response.cpp b/rmw_iceoryx_cpp/src/rmw_response.cpp
@@ -157,6 +157,8 @@ rmw_send_response(
             rmw_iceoryx_cpp::serializeResponse(ros_response, &iceoryx_server_abstraction->type_supports_, payload_vector);
             memcpy(responsePayload, payload_vector.data(), payload_vector.size());
           }
+          /// @todo Why are the sleep before and after 'send()' needed? rmw_cyclonedds and rmw_fastrtps seem to do something similar in 'rmw_send_response'..
+          std::this_thread::sleep_for(std::chrono::milliseconds(100));
           iceoryx_server->send(responsePayload).and_then([&]{
             std::cout << "Server sent response!" << std::endl;
             ret = RMW_RET_OK;
@@ -165,6 +167,7 @@ rmw_send_response(
                 RMW_SET_ERROR_MSG("rmw_send_response send error!");
                 ret = RMW_RET_ERROR;
               });
+          std::this_thread::sleep_for(std::chrono::milliseconds(100));
       })
       .or_else(
           [&](auto& error) {

diff --git a/rmw_iceoryx_cpp/src/rmw_service_server_is_available.cpp b/rmw_iceoryx_cpp/src/rmw_service_server_is_available.cpp
@@ -51,13 +51,12 @@ rmw_service_server_is_available(
 
   std::this_thread::sleep_for(std::chrono::seconds(1));
 
-  *is_available = true;
-  // if(iceoryx_client->getConnectionState() == iox::ConnectionState::CONNECTED)
-  // {
-  //   *is_available = true;
-  // }
+  if(iceoryx_client->getConnectionState() == iox::ConnectionState::CONNECTED)
+  {
+    *is_available = true;
+  }
 
-  /// @todo better to go through service discovery?
+  /// @todo Better to go through service discovery?
   // iox::runtime::ServiceDiscovery serviceDiscovery;
   // auto& searchItem = iceoryx_client->getServiceDescription();
   // serviceDiscovery.findService( searchItem.getServiceIDString(),