From c37febb83ccae99d0c2cd5534b06d8c4eb603f96 Mon Sep 17 00:00:00 2001
From: shernand <shernand@iri.upc.edu>
Date: Wed, 27 Oct 2021 18:30:42 +0200
Subject: [PATCH] Checked whether the service client is connected to the server
or not.
---
src/adc_jury_server_alg_node.cpp | 11 ++++++++---
1 file changed, 8 insertions(+), 3 deletions(-)
diff --git a/src/adc_jury_server_alg_node.cpp b/src/adc_jury_server_alg_node.cpp
index 1b4b42f..47aa5f4 100644
--- a/src/adc_jury_server_alg_node.cpp
+++ b/src/adc_jury_server_alg_node.cpp
@@ -247,10 +247,15 @@ void AdcJuryServerAlgNode::node_config_update(Config &config, uint32_t level)
}
ROS_INFO("AdcJuryServerAlgNode:: Calling service set_lights_client_!");
- if (set_lights_client_.call(set_lights_srv_))
- ROS_INFO("AdcJuryServerAlgNode:: set_lights_client_ received a response from service server");
+ if(set_lights_client_.waitForExistence(ros::Duration(0)))
+ {
+ if (set_lights_client_.call(set_lights_srv_))
+ ROS_INFO("AdcJuryServerAlgNode:: set_lights_client_ received a response from service server");
+ else
+ ROS_ERROR("AdcJuryServerAlgNode:: Failed to call service on topic %s",this->set_lights_client_.getService().c_str());
+ }
else
- ROS_ERROR("AdcJuryServerAlgNode:: Failed to call service on topic %s",this->set_lights_client_.getService().c_str());
+ ROS_ERROR("AdcJuryServerAlgNode:: Service not connected");
}
this->config_=config;
--
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