Launch file does not work (rclcpp_component node)

[EleonoreJ]

Hello,
I have the following issue when launching my launch file. Would you have an idea on how to solve it?
Many thanks!

Configuration:
Ubuntu 18.04
ROS2 foxy

Error:

[rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

'Handle's typesupport identifier (rosidl_typesupport_c) is not supported by this library
, at /tmp/binarydeb/ros-foxy-rosidl-typesupport-c-1.0.2/src/type_support_dispatch.hpp:116'

with this new error message:

'rmw_iceoryx_cpp does not support clients., at /home/eleonore/rmw_iceoryx/rmw_iceoryx_cpp/src/rmw_client.cpp:36'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RCLError('Failed to create client: rmw_iceoryx_cpp does not support clients., at /home/eleonore/rmw_iceoryx/rmw_iceoryx_cpp/src/rmw_client.cpp:36, at /tmp/binarydeb/ros-foxy-rcl-1.1.13/src/rcl/client.c:175')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 2 more times]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/load_composable_nodes.py", line 201, in execute
self.__rclpy_load_node_client = get_ros_node(context).create_client(
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1253, in create_client
client_capsule = _rclpy.rclpy_create_client(
_rclpy.RCLError: Failed to create client: rmw_iceoryx_cpp does not support clients., at /home/eleonore/rmw_iceoryx/rmw_iceoryx_cpp/src/rmw_client.cpp:36, at /tmp/binarydeb/ros-foxy-rcl-1.1.13/src/rcl/client.c:175
Task exception was never retrieved
future: <Task finished name='Task-8' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
return self.__function(context, *self.__args, **self.__kwargs)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [component_container-1]: process started with pid [3680]
[ERROR] [component_container-1]: process[component_container-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [component_container-1]: sending signal 'SIGTERM' to process[component_container-1]
[ERROR] [component_container-1]: process has died [pid 3680, exit code -15, cmd '/opt/ros/foxy/lib/rclcpp_components/component_container --ros-args -r __node:=point_type_adapter_container_front -r __ns:=/'].

It comes from this node for me:

container = ComposableNodeContainer(
    name='point',
    namespace='',
    package='rclcpp_components',
    executable='component_container',
    composable_node_descriptions=[
        ComposableNode(
            package='point_type_adapter',
            plugin='Node',
    ],
    output='screen',
)

[mossmaurice]

@EleonoreJ Thanks for reporting this issue and sorry about the late response!

'rmw_iceoryx_cpp does not support clients., at /home/eleonore/rmw_iceoryx/rmw_iceoryx_cpp/src/rmw_client.cpp:36'

The error occurs due to the fact that iceoryx Almond (v1.x) didn't have request/ response implemented. That changed with iceoryx Blueberry (v2.x), which supports request/ response communication. Early January I implemented request/ response communication for ROS 2 Humble and #84 should be merged in the next few weeks. You are welcome to give it a try. I fear a backport for ROS 2 Foxy won't happen. Would Humble be feasible for you? Of course, contributions are always welcome if you have some spare time for the backport :)

[mossmaurice]

Closing this issue as #84 was merged. Feel free to re-open if the issue persists.