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Do not return error when rcl_send_response timeout. #408

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Do not return error when rcl_send_response timeout. #408

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6 changes: 6 additions & 0 deletions rclc/src/rclc/executor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1473,6 +1473,12 @@ _rclc_execute(rclc_executor_handle_t * handle)
}
// handle rcl-side services
rc = rcl_send_response(handle->service, &handle->req_id, handle->data_response_msg);
if (rc == RCL_RET_TIMEOUT) {
// because of racy condition between service client and server endpoint creation,
// server cannot find the concerned client just yet.
PRINT_RCLC_WARN(rclc_execute, rcl_send_response);
rc = RCL_RET_OK;
}
if (rc != RCL_RET_OK) {
PRINT_RCLC_ERROR(rclc_execute, rcl_send_response);
return rc;
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