Delay on service server

[rafa-martin]

Generated by Generative AI

No response

Operating System:

Ubuntu 24.04 - 6.8.1-1037-realtime #38-Ubuntu SMP PREEMPT_RT

ROS version or commit hash:

jazzy

RMW implementation (if applicable):

No response

RMW Configuration (if applicable):

default

Client library (if applicable):

rclcpp, ros2_control

'ros2 doctor --report' output

ros2 doctor --report

<COPY OUTPUT HERE>

Steps to reproduce issue

1. Start UR robot driver with ros2_controller manager
2. Call service list controllers
3. The realtime loop hangs like 20ms or 10ms

Expected behavior

Do not block RT loop

Actual behavior

It is blocked like 20ms

Additional information

I created the following thinking that is related to ros2_control, but with cyclone or fastdds doesn't happen.

ros-controls/ros2_control#2808