QoS depth settings for clients/service ignored

  ros2/rclcpp#1785

Signed-off-by: Tomoya Fujita <[email protected]>

prover_rclcpp/CMakeLists.txt

@@ -80,6 +80,7 @@ custom_executable(rclcpp_1691)
 custom_executable(rclcpp_1746)
 custom_executable(rclcpp_1766)
 custom_executable(rclcpp_1778)
+custom_executable(rclcpp_1785)
 
 custom_executable(rmw_fastrtps_554)
 custom_executable(rmw_fastrtps_555)

prover_rclcpp/src/rclcpp_1785.cpp

@@ -0,0 +1,112 @@
+#include <cinttypes>
+#include <memory>
+
+#include "example_interfaces/srv/add_two_ints.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+using AddTwoInts = example_interfaces::srv::AddTwoInts;
+rclcpp::Node::SharedPtr service_node = nullptr;
+rclcpp::Node::SharedPtr client_node = nullptr;
+
+using Executor = rclcpp::executors::SingleThreadedExecutor;
+
+void handle_service(
+  const std::shared_ptr<rmw_request_id_t> request_header,
+  const std::shared_ptr<AddTwoInts::Request> request,
+  const std::shared_ptr<AddTwoInts::Response> response)
+{
+  (void)request_header;
+  response->sum = request->a + request->b;
+  RCLCPP_INFO(
+    service_node->get_logger(),
+    "Handle service. Request: %" PRId64 " + %" PRId64 " = %" PRId64, request->a, request->b, response->sum);
+}
+
+void client_callback(
+  std::shared_ptr<typename AddTwoInts::Request> request,
+  typename rclcpp::Client<AddTwoInts>::SharedFuture result_future)
+{
+    auto result = result_future.get();
+    RCLCPP_INFO(
+      client_node->get_logger(),
+      "Client callback. Result of %" PRId64 " + %" PRId64 " = %" PRId64, request->a, request->b, result->sum);
+}
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  // Node options
+  rclcpp::NodeOptions node_options = rclcpp::NodeOptions();
+  node_options.use_intra_process_comms(false);
+  node_options.start_parameter_services(false);
+  node_options.start_parameter_event_publisher(false);
+
+  // Create nodes with node options
+  service_node = rclcpp::Node::make_shared("service", node_options);
+  client_node = rclcpp::Node::make_shared("client", node_options);
+
+  // Client/Service options
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_services_default;
+  qos_profile.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
+  std::cout << "Setting OoS depth = 1 for client and service" << std::endl;
+  qos_profile.depth = 1;
+
+  // Create client and service with options
+  auto client = client_node->create_client<AddTwoInts>("add_two_ints", qos_profile);
+  auto server = service_node->create_service<AddTwoInts>("add_two_ints", handle_service, qos_profile);
+
+  // Create separate executors for client and service nodes to better show the issue
+  auto service_executor = std::make_shared<Executor>();
+  service_executor->add_node(service_node);
+  auto client_executor = std::make_shared<Executor>();
+  client_executor->add_node(client_node);
+
+  // Send requests (depth is set to 1, so we should only have a single client request)
+  for (int i=0; i <= 15; i++) {
+    auto request = std::make_shared<AddTwoInts::Request>();
+    request->a = i;
+    request->b = i;
+
+    std::function<void(
+    typename rclcpp::Client<AddTwoInts>::SharedFuture future)> callback_function = std::bind(
+        &client_callback,
+        request,
+        std::placeholders::_1
+    );
+
+    std::cout << "Client: async_send_request number: " << i << std::endl;
+    client->async_send_request(request, callback_function);
+  }
+
+  char a;
+  std::cout << "Press key to spin the Server" << std::endl;
+  std::cin >> a;
+
+  /******** SERVICE EXECUTOR THREAD *********************************************/
+  std::thread service_spin_thread([=](){
+      std::cout << "service_executor->spin()" << std::endl;
+      service_executor->spin();
+  });
+  service_spin_thread.detach();
+  /********************************************************************************************/
+
+  std::cout << "Press key to spin the Client" << std::endl;
+  std::cin >> a;
+
+  /******** CLIENT EXECUTOR THREAD ***********************************************/
+  std::thread spin_thread([=](){
+      std::cout << "client_executor->spin()" << std::endl;
+      client_executor->spin();
+  });
+  spin_thread.detach();
+  /********************************************************************************************/
+
+  std::cin >> a;
+  std::cout << "rclcpp::shutdown()" << std::endl;
+
+  rclcpp::shutdown();
+  service_node = nullptr;
+  client_node = nullptr;
+  return 0;
+}