Error with new service server impl and rospy

[Carter12s]

So our new service server setup can call itself (yay!) but we're defo not fully compliant.

Unclear why other tools are angry right now. But rospy errors:

import rospy
from std_srvs.srv import SetBool
set_bool = rospy.ServiceProxy('/service_server_rs/my_set_bool', SetBool)
set_bool(True)

>>> set_bool(True)
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 567, in connect
    self.socket.connect((dest_addr, dest_port))
ConnectionRefusedError: [Errno 111] Connection refused

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 509, in call
    transport.connect(dest_addr, dest_port, service_uri)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 596, in connect
    raise TransportInitError(str(e)) #re-raise i/o error
rospy.exceptions.TransportInitError: [Errno 111] Connection refused

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 442, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 512, in call
    raise ServiceException("unable to connect to service: %s"%e)
rospy.service.ServiceException: unable to connect to service: [Errno 111] Connection refused

Investigate and fix!

[Carter12s]

Okay above error was a false alarm I had a borked networking setup with docker.

There is an error here, but it is a little more subtle:

• If you use rospy.ServiceProxy with persistent=True
• First call will work
• Second call will error

>>> set_bool(False)
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 523, in call
    responses = transport.receive_once()
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 744, in receive_once
    self.stat_bytes += recv_buff(sock, b, p.buff_size)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 111, in recv_buff
    raise TransportTerminated("unable to receive data from sender, check sender's logs for details")
rospy.exceptions.TransportTerminated: unable to receive data from sender, check sender's logs for details

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 442, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 533, in call
    raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details

Logs from example show nothing interesting second request is currently swallowed