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rospy: TCPROS, header callerid optional field #522

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akru opened this issue Nov 4, 2014 · 4 comments
Closed

rospy: TCPROS, header callerid optional field #522

akru opened this issue Nov 4, 2014 · 4 comments

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@akru
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akru commented Nov 4, 2014

According to http://wiki.ros.org/ROS/TCPROS:

  • callerid field is NOT required.

But when publisher response header does not contain this field, messages from publisher will not be received, because tcpros_base.py has crashed.

[rospy.client][INFO] 2014-11-04 15:44:37,097: init_node, name[/rostopic_28955_1415105077037], pid[28955]
[xmlrpc][INFO] 2014-11-04 15:44:37,098: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2014-11-04 15:44:37,098: Started XML-RPC server [http://krakov:44930/]
[rospy.init][INFO] 2014-11-04 15:44:37,098: ROS Slave URI: [http://krakov:44930/]
[rospy.impl.masterslave][INFO] 2014-11-04 15:44:37,098: _ready: http://krakov:44930/
[rospy.registration][INFO] 2014-11-04 15:44:37,099: Registering with master node http://krakov:11311
[xmlrpc][INFO] 2014-11-04 15:44:37,099: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2014-11-04 15:44:37,199: registered with master
[rospy.rosout][INFO] 2014-11-04 15:44:37,199: initializing /rosout core topic
[rospy.rosout][INFO] 2014-11-04 15:44:37,201: connected to core topic /rosout
[rospy.simtime][INFO] 2014-11-04 15:44:37,203: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rospy.internal][INFO] 2014-11-04 15:44:37,265: topic[/chatter] adding connection to [http://krakov:39475], count 0
[rospy.internal][WARNING] 2014-11-04 15:44:37,268: Unknown error initiating TCP/IP socket to krakov:41717 (http://krakov:39475): Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/site-packages/rospy/impl/tcpros_base.py", line 557, in connect
    self.read_header()
  File "/opt/ros/indigo/lib/python2.7/site-packages/rospy/impl/tcpros_base.py", line 618, in read_header
    self._validate_header(read_ros_handshake_header(sock, self.read_buff, self.protocol.buff_size))
  File "/opt/ros/indigo/lib/python2.7/site-packages/rospy/impl/tcpros_base.py", line 585, in _validate_header
    self.callerid_pub = header['callerid']
KeyError: 'callerid'

[rospy.internal][INFO] 2014-11-04 15:44:37,269: topic[/chatter] removing connection to http://krakov:39475
[rospy.internal][ERROR] 2014-11-04 15:44:37,269: unable to create subscriber transport: 'callerid'.  Will try again in 0.5s
[rospy.internal][INFO] 2014-11-04 15:44:37,462: topic[/rosout] adding connection to [/rosout], count 0
[rospy.core][INFO] 2014-11-04 16:00:25,946: signal_shutdown [signal-2]
[rospy.internal][INFO] 2014-11-04 16:00:25,966: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2014-11-04 16:00:25,967: signal-2
[rospy.core][INFO] 2014-11-04 16:00:26,070: signal_shutdown [atexit]

This is simple fix a problem:

*** tcpros_base.py.orig 2014-11-04 15:58:56.411691733 +0300
--- tcpros_base.py  2014-11-04 15:59:46.422690161 +0300
***************
*** 582,588 ****
              if not required in header:
                  raise TransportInitError("header missing required field [%s]"%required)
          self.md5sum = header['md5sum']
!         self.callerid_pub = header['callerid']
          self.type = header['type']
          if header.get('latching', '0') == '1':
              self.is_latched = True
--- 582,589 ----
              if not required in header:
                  raise TransportInitError("header missing required field [%s]"%required)
          self.md5sum = header['md5sum']
!         if 'callerid' in header:
!             self.callerid_pub = header['callerid']
          self.type = header['type']
          if header.get('latching', '0') == '1':
              self.is_latched = True
@akru akru mentioned this issue Nov 4, 2014
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@dirk-thomas
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Can you please create a pull request with your proposed change.

But from a first look it seems that the same code is also used for the service connection where the header field is actually required. So the patch will likely need some conditional logic before being merged.

@akru akru mentioned this issue Nov 4, 2014
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@akru
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akru commented Nov 4, 2014

Really, for service transaction this field is required. So 'unknown' value of var is a best solution that crash.

@dirk-thomas
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Allow the callerid header to be missing and setting the value to unknown is not considered to be the right behavior for service connections. It should assert that the callerid header is present when parsing the header and not fail sometime later.

@dirk-thomas
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Closed by #525.

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@akru @dirk-thomas