ROS2 examples_rclcpp_minimal_service test crash

[zhukao]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • binaries
• Version or commit hash:
  • ROS2 Foxy, ros-foxy-rmw-cyclonedds-cpp/focal,now 0.7.11-1focal.20221012.222818 arm64
• DDS implementation:
  • cyclonedds
• Client library (if applicable):
  • N/A

Steps to reproduce issue

terminal 1

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ros2 run examples_rclcpp_minimal_service service_main

terminal 2, run bash test.sh

# cat test.sh
#!/bin/bash

for i in {1..35}
do
    echo $i
    ros2 run examples_rclcpp_minimal_client client_main --ros-args -r __node:=my_client_$i &
done

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
bash test.sh

Expected behavior

terminal 1 outputs '[minimal_service]: request: 41 + 1'.
terminal 2 outputs '[minimal_client]: result of 41 + 1 = 42'.

Actual behavior

terminal 1 crashes with outpus

[INFO] [1679455265.326423020] [minimal_service]: request: 41 + 1
[INFO] [1679455265.381029282] [minimal_service]: request: 41 + 1
[INFO] [1679455265.594560479] [minimal_service]: request: 41 + 1
[INFO] [1679455265.636475358] [minimal_service]: request: 41 + 1
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
  what():  failed to send response: cannot publish data, at /tmp/binarydeb/ros-foxy-rmw-cyclonedds-cpp-0.7.11/src/rmw_ns-foxy-rcl-1.1.14/src/rcl/service.c:356

terminal 2 outpus

[INFO] [1679455265.190357743] [my_client_10]: result of 41 + 1 = 42
[INFO] [1679455265.372295787] [my_client_25]: result of 41 + 1 = 42
[INFO] [1679455265.634295150] [my_client_33]: result of 41 + 1 = 42
[INFO] [1679455265.677879464] [my_client_24]: result of 41 + 1 = 42
[INFO] [1679455266.310747479] [my_client_30]: result of 41 + 1 = 42
[INFO] [1679455268.346233987] [my_client_3]: result of 41 + 1 = 42
[INFO] [1679455268.732088645] [my_client_26]: waiting for service to appear...
[INFO] [1679455269.091401288] [my_client_35]: waiting for service to appear...
[INFO] [1679455269.100591599] [my_client_20]: waiting for service to appear...
[INFO] [1679455269.732822395] [my_client_26]: waiting for service to appear...
[INFO] [1679455270.092682560] [my_client_35]: waiting for service to appear...

Additional information

---

Feature request

Feature description

Implementation considerations

[zhukao]

The crash dose not appear steadily, run bash test.sh about 5 times the service may appear crash.

[clalancette]

Hi there, thanks for reporting the bug. Using the script you provided, I was not able to reproduce this error on either Foxy or Rolling, even after running a number of times. Could you give some more information about your environment (running in a container, etc)? Thanks.

[zhukao]

Thank you for your reply. I am running on an actual machine, not a container. The installation packages for arm64 and amd64 can all be reproduced. The reproduction time will vary depending on the device, but they will all be reproduced.
You can try using a script to loop and test the client, eg bash loop.sh, and the script is:

# cat loop.sh
#!/bin/bash

for i in {1..100}
do
    echo -e "\n loop " $i
    bash test.sh
    sleep 30
done