service becomes unresponsive after being destroyed and created again.

  ros2/rclcpp#1175

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

CMakeLists.txt

@@ -52,11 +52,12 @@ function(custom_executable target)
 endfunction()
 
 # Create an executable
-custom_executable(rclcpp_1121)
-custom_executable(rclcpp_1148)
-custom_executable(ros2_946_pub)
-custom_executable(ros2_946_sub)
-custom_executable(ros2_644)
+#custom_executable(rclcpp_1121)
+#custom_executable(rclcpp_1148)
+custom_executable(rclcpp_1175)
+#custom_executable(ros2_946_pub)
+#custom_executable(ros2_946_sub)
+#custom_executable(ros2_644)
 
 if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang" AND
     "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS 6.0)
@@ -69,8 +70,8 @@ elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU" AND
     message(ERROR "GCC 7 or above required for TSan to work correctly in Debug builds. TSan hasn't been enabled.")
 else ()
     # Enable TSan
-    target_compile_options(rclcpp_1121 PRIVATE "-fsanitize=thread")
-    target_link_options(rclcpp_1121 PRIVATE "-fsanitize=thread")
+    #target_compile_options(rclcpp_1121 PRIVATE "-fsanitize=thread")
+    #target_link_options(rclcpp_1121 PRIVATE "-fsanitize=thread")
 endif ()
 
 ament_package()

src/rclcpp_1175.cpp

@@ -0,0 +1,73 @@
+#include <cstdlib>
+#include <functional>
+#include <rclcpp/rclcpp.hpp>
+#include <std_srvs/srv/set_bool.hpp>
+#include <std_srvs/srv/trigger.hpp>
+
+using namespace std::placeholders;
+using namespace std::chrono_literals;
+
+using namespace std_srvs::srv;
+
+rclcpp::Node::SharedPtr g_node = nullptr;
+rclcpp::Service<Trigger>::SharedPtr g_dynsrv = nullptr;
+
+void handle_dynamic_service(
+  const std::shared_ptr<rmw_request_id_t> request_header,
+  const std::shared_ptr<Trigger::Request> request,
+  const std::shared_ptr<Trigger::Response> response)
+{
+  (void) request_header;
+  (void) request;
+  RCLCPP_INFO(g_node->get_logger(), "trigger called!");
+  response->success = true;
+}
+
+void handle_enable_service(
+  const std::shared_ptr<rmw_request_id_t> request_header,
+  const std::shared_ptr<SetBool::Request> request,
+  const std::shared_ptr<SetBool::Response> response)
+{
+  (void) request_header;
+  if(request->data)
+  {
+    if(g_dynsrv)
+    {
+      RCLCPP_INFO(g_node->get_logger(), "already enabled");
+      response->success = false;
+      response->message = "already enabled";
+    }
+    else
+    {
+      RCLCPP_INFO(g_node->get_logger(), "enabling dynamic service");
+      g_dynsrv = g_node->create_service<Trigger>("dynamic_service", handle_dynamic_service);
+      response->success = true;
+    }
+  }
+  else
+  {
+    if(g_dynsrv)
+    {
+      RCLCPP_INFO(g_node->get_logger(), "disabling dynamic service");
+      g_dynsrv = nullptr;
+      response->success = true;
+    }
+    else
+    {
+      RCLCPP_INFO(g_node->get_logger(), "already disabled");
+      response->success = false;
+      response->message = "already disabled";
+    }
+  }
+}
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  g_node = rclcpp::Node::make_shared("test_dynamic_service");
+  auto enable_server = g_node->create_service<SetBool>("enable", handle_enable_service);
+  rclcpp::spin(g_node);
+  rclcpp::shutdown();
+  g_node = nullptr;
+  return 0;
+}