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Bridge not compatible with ROS2 actions #60

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ccpowers opened this issue Nov 21, 2022 · 2 comments · Fixed by #61
Closed

Bridge not compatible with ROS2 actions #60

ccpowers opened this issue Nov 21, 2022 · 2 comments · Fixed by #61
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@achim-k
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bug Something isn't working

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@ccpowers
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When launching the foxglove bridge in ROS2, it will crash if an action server is present.

  • Version: latest
  • Platform: ubuntu jammy, ros2 humble

Steps To Reproduce

  1. Launch the getting started example for Nav2: https://navigation.ros.org/getting_started/index.html#running-the-example
    Specifically, the following:
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

Alternately, you can probably reproduce by launching anything that has an action server or client.

  1. Run the foxglove bridge:
ros2 run foxglove_bridge foxglove_bridge

The bridge will exit with an error (described below).

Expected Behavior
Bridge launches.

Actual Behavior
Bridge crashes with error:

terminate called after throwing an instance of 'std::invalid_argument'
  what():  Invalid package resource name: nav2_msgs/action/NavigateThroughPoses_FeedbackMessage
@ccpowers ccpowers added the bug Something isn't working label Nov 21, 2022
@achim-k
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achim-k commented Nov 21, 2022

This seems to be a consequence of #58

@achim-k achim-k self-assigned this Nov 21, 2022
@achim-k achim-k mentioned this issue Nov 21, 2022
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@achim-k
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achim-k commented Nov 21, 2022

I have submitted #61 which, for now, only prevents the node from crashing. Proper support for ROS2 action topics will be implemented later on (#11)

jhurliman pushed a commit that referenced this issue Nov 21, 2022
@achim-k
Handle other exceptions when getting ros2 message definitions (#61)
51eb1cd 
**Public-Facing Changes**
Improve error handling when retrieving message definitions (ros2)


**Description**
The presence of action topics causes the bridge to crash:

```
terminate called after throwing an instance of 'std::invalid_argument'
  what():  Invalid package resource name: turtlesim/action/RotateAbsolute_FeedbackMessage
```

The reason why the exception is thrown, is because we assume that
message files are located in the `msg` folder:

https://github.com/foxglove/ros-foxglove-bridge/blob/08ff9e522065a2c9998b0fbf2030d9e8fa363637/ros2_foxglove_bridge/src/message_definition_cache.cpp#L19

This PR for now only adds an additional exception handler that will
simply log a warning. Proper action support will be implemented later
on.


Fixes #60
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Handle other exceptions when getting ros2 message definitions foxglove/ros-foxglove-bridge
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@ccpowers @achim-k