linear_battery_demo.sdf service calls timeout although seems to work

[j-rivero]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build?
  • Binary: gz-sim 8.0.0~pre1

Following the instructions in the sdf file everything seems to work fine but the service calls returns a timeout although I see the expected effects in the logs.

Description

• Expected behavior: returns nothing/success/true
• Actual behavior: returns a timeout

Steps to reproduce

1. gz sim -v 4 linear_battery_demo.sdf -z 10000
2. Press play
3. gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 6.0} angular: {z: 0.4}"
4. gz service -s /model/vehicle_blue/battery/linear_battery/recharge/start --reqtype gz.msgs.Boolean --reptype gz.msgs.Empty --req 'data:true' --timeout 10000

Output

Service call timed out

[caguero]

I can't reproduce this from source. @j-rivero, do you have a chance to test it on your side with gz-sim 8 compiled from source?

[j-rivero]

I can't reproduce this from source. @j-rivero, do you have a chance to test it on your side with gz-sim 8 compiled from source?

I can not reproduce it anymore, with the current stable packages, gz-sim version 8.0.0-1.

[caguero]

My explanation to this issue is that this request is a two-way message. The request is sent from the sender to destination (gz-sim) in this case. Then, gz-sim reacts to the request and sends the response. If for some reason, gz-sim is slow processing the request, the response that is sent back to the original sender might arrive after the timeout. That could be the explanation for seeing a timeout on the requester and a normal reaction to the request on gz-sim.

[azeey]

I'm able to reproduce this locally with a clean build of Harmonic (gz-sim 82969d5, and gz-transport 764a04bf).

[caguero]

gazebosim/gz-transport#477