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ROS2ServiceAPI.call_service timeout handling #514

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#594
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ROS2ServiceAPI.call_service timeout handling#514
#594
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maciejmajek
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enhancementNew feature or requestgood first issueGood for newcomerspriority/majorImportant work that comes next after all critical and blocking tasks are completed.
@maciejmajek

Description

@maciejmajek
maciejmajek
opened on Apr 8, 2025

Is your feature request related to a problem? Please describe.
Currently, the call_service method of the ROS2ServiceAPI does not respect the timeout parameter during the actual service call. The timeout is only applied during service discovery.

rai/src/rai_core/rai/communication/ros2/api.py

Lines 648 to 674 in 0675ff6

def call_service(
self,
service_name: str,
service_type: str,
request: Any,
timeout_sec: float = 1.0,
) -> Any:
"""
Call a ROS2 service.
Args:
service_name: Name of the service to call
service_type: ROS2 service type as string
request: Request message content
Returns:
The response message
"""
srv_msg, srv_cls = build_ros2_service_request(service_type, request)
service_client = self.node.create_client(srv_cls, service_name) # type: ignore
client_ready = service_client.wait_for_service(timeout_sec=timeout_sec)
if not client_ready:
raise ValueError(
f"Service {service_name} not ready within {timeout_sec} seconds. "
"Try increasing the timeout or check if the service is running."
)
return service_client.call(srv_msg)

Describe the solution you'd like
The timeout should apply to both the service client initialization and the service call phases. We should measure the time taken by the first phase and apply the remaining timeout to the service call.

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