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Fix: Workaround empty Trigger Request deserialization issue #1

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merged 1 commit into from
Nov 25, 2024
Merged

Fix: Workaround empty Trigger Request deserialization issue #1

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12 changes: 11 additions & 1 deletion ros_tcp_endpoint/service.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

import rclpy
import re
import std_srvs

from rclpy.serialization import deserialize_message

Expand Down Expand Up @@ -52,7 +53,16 @@ def send(self, data):
service response
"""
message_type = type(self.req)
message = deserialize_message(data, message_type)

"""
The below workaround handles deserialization issues with empty message type "Trigger.Request".
Solution was identified in: https://github.com/Unity-Technologies/Unity-Robotics-Hub/issues/390
"""
message = None
if(isinstance(message_type, std_srvs.srv._trigger.Metaclass_Trigger_Request)):
message = std_srvs.srv.Trigger.Request()
else:
message = deserialize_message(data, message_type)

if not self.cli.wait_for_service(10.0):
self.get_logger().error(
Expand Down