Write data to Service ROS is wrong

[Nhavilla]

Is there an already existing issue for this?

• I have searched the existing issues

Expected behavior

When I create a client service dds to write data to service Ros, the data transferred to ros is incorrect or cannot be transferred. Ros received the DDS client but no incoming data or wrong data between variables.
I can still publish to Ros topic with correct data

Current behavior

I used fastdds -gen to convert from .idl .srv file

Steps to reproduce

These values are passed wrongly to other values, it is not correct with its name

Fast DDS version/commit

FastDDS ver 2.7
ROS Galactic

Platform/Architecture

Ubuntu Focal 20.04 amd64

Transport layer

Default configuration, UDPv4 & SHM

Additional context

No response

XML configuration file

No response

Relevant log output

No response

Network traffic capture

No response

[jsan-rt]

Hello @Nhavilla, thanks for using Fast-DDS.

Could you provide us with a minimal reproducer and the .idl file you are using?

[Nhavilla]

Hello @jsantiago-eProsima, thank you.

This is the .idl service file I use

module robot_services {
module srv {
struct Savemap_Request {
string name;
};
struct Savemap_Response {
boolean saved;
};
};
}

and the code

DdsRos::MapServiceRequest::MapServiceRequest()
: participant_(nullptr)
, publisher_(nullptr)
, topic_(nullptr)
, writer_(nullptr)
, type_(new robot_services::srv::Savemap_RequestPubSubType())
{
}
DdsRos::MoveServiceRequest::~MoveServiceRequest()
{
if (writer_ != nullptr)
{
publisher_->delete_datawriter(writer_);
}
if (topic_ != nullptr)
{
participant_->delete_topic(topic_);
}
if (publisher_ != nullptr)
{
participant_->delete_publisher(publisher_);
}
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
bool DdsRos::MoveServiceRequest::init()
{

DomainParticipantQos participantQos;
participantQos.name("Move_pubscriber_client");


participant_ = DomainParticipantFactory::get_instance()->create_participant(39, participantQos);

if (participant_ == nullptr)
{
    return false;
}

// Register the Type
type_.register_type(participant_);

std::string dds_topic_pose="rq/savemapRequest";


// Create the subscriptions Topic
topic_ = participant_->create_topic(dds_topic_pose, type_.get_type_name(), TOPIC_QOS_DEFAULT);

if (topic_ == nullptr)
{
    return false;
}

// Create the Subscriber
publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);

if (publisher_ == nullptr)
{
    return false;
}

// Create the DataWriter
writer_ = publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, &listener_);

if (writer_ == nullptr)
{
    return false;
}

return true;

}

void DdsRos::MoveServiceRequest::PubListener::on_publication_matched(
DataWriter* ,
const PublicationMatchedStatus& info)
{
if (info.current_count_change == 1)
{
matched_ = info.total_count;
std::cout << "Publisher matched MoveService "<<matched_<< std::endl;

}
else if (info.current_count_change == -1)
{   
    matched_ = info.total_count;
    std::cout << "Publisher unmatched  MoveService" << std::endl;

}
else
{
    std::cout << info.current_count_change
              << " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
}

}

void DdsRos::MoveServiceRequest::run(uint32_t samples)

{
robot_services::srv::Savemap_Request map;

uint32_t samples_sent = 0;
while (samples_sent < samples)
{   std::this_thread::sleep_for(std::chrono::milliseconds(2000));
    // publish();
    if (listener_.matched_ > 0)
    {   
        
        map.name()="Movin6j";
        writer_->write(&map);
    }
    
    samples_sent++;

    std::cout<<"request pub: "<<mov.name()<<std::endl;

    // std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

}

[Mario-DL]

Since the environment used in this issue (Fast DDS 2.7.x and ROS Galactic) is not being maintained anymore, I am moving this issue to the corresponding discussion forum.