From e14c06ed2f8c8de45181559ed007278ed343aafb Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date: Fri, 7 Apr 2023 17:31:20 -0700
Subject: [PATCH] ros2 service call waits forever if QoS is incompatible with
 concerned server

  https://github.com/ros2/ros2cli/issues/818

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 prover_rclpy/setup.py           |  1 +
 prover_rclpy/src/ros2cli_818.py | 37 +++++++++++++++++++++++++++++++++
 2 files changed, 38 insertions(+)
 create mode 100644 prover_rclpy/src/ros2cli_818.py

diff --git a/prover_rclpy/setup.py b/prover_rclpy/setup.py
index 9e85f96..6b99d56 100644
--- a/prover_rclpy/setup.py
+++ b/prover_rclpy/setup.py
@@ -66,6 +66,7 @@
             'rclpy_1046 = src.rclpy_1046:main',
             'rclpy_1047 = src.rclpy_1047:main',
             'rclpy_1098 = src.rclpy_1098:main',
+            'ros2cli_818 = src.ros2cli_818:main',
         ],
     },
 )
diff --git a/prover_rclpy/src/ros2cli_818.py b/prover_rclpy/src/ros2cli_818.py
new file mode 100644
index 0000000..4133542
--- /dev/null
+++ b/prover_rclpy/src/ros2cli_818.py
@@ -0,0 +1,37 @@
+from example_interfaces.srv import AddTwoInts
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
+from rclpy.qos import qos_profile_services_default
+
+class ServiceProvider(Node):
+
+    def __init__(self):
+        super().__init__('service_provider')
+        # qos_profile_sensor_data (keep_last, depth is 5 and reliability is best_effort)
+        # qos_profile_services_default (keep_last, depth is 10 and reliability is reliable)
+        self.srv = self.create_service(
+            #AddTwoInts, 'my_add_two_ints', self.add_two_ints_callback, qos_profile=qos_profile_services_default)
+            AddTwoInts, 'my_add_two_ints', self.add_two_ints_callback, qos_profile=qos_profile_sensor_data)
+
+    def add_two_ints_callback(self, request, response):
+        response.sum = request.a + request.b
+        self.get_logger().info('Incoming request a: %d b: %d' % (request.a, request.b))
+        self.get_logger().info('Outbound result : %d' % (response.sum))
+
+        return response
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    service = ServiceProvider()
+
+    rclpy.spin(service)
+
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file