roscpp service timeout test

test_client.cpp

#include <ros/ros.h>

#include <std_srvs/Trigger.h>

typedef std_srvs::Trigger RPC;

void test_call(ros::ServiceClient & client)
{
	RPC rpc;

	ROS_INFO("Sending request");

	if(client.call(rpc))
	{
		ROS_INFO("RPC is complete, msg=%s, status=%d", rpc.response.message.c_str(), rpc.response.success);
	}
	else
	{
		ROS_ERROR("RPC has failed");
	}
}

int main(int argc, char * argv[])
{
	ros::init(argc, argv, "test_client");

	ros::NodeHandle nh;

	ros::ServiceClient client = nh.serviceClient<RPC>("crash_srv");

	ROS_INFO("Waiting for service");
	client.waitForExistence(ros::Duration(1.0));

	client.setTimeout(5);

	ROS_INFO("Sending first request");
	test_call(client);

	ROS_INFO("Sending second request");
	test_call(client);

	ROS_INFO("Test is complete. Can exit now");

	return 0;
}

test_server.cpp

#include <ros/ros.h>

#include <std_srvs/Trigger.h>

int requests = 0;

typedef std_srvs::Trigger RPC;

bool callback(RPC::Request & req, RPC::Response & rep)
{
	ROS_INFO("Got request. Crashing here");
	sleep(2);
	/// Break on second request
	if(requests == 1)
	{
		int * data = NULL;
		/// make SIGSEGV here
		data[0] = 10;

		exit(0);
	}
	rep.message = "done";
	rep.success = ++requests;
	return true;
}

int main(int argc, char * argv[])
{
	ros::init(argc, argv, "test_server");

	ros::NodeHandle nh;

	ros::ServiceServer srv = nh.advertiseService("crash_srv", &callback);

	ROS_INFO("Initialization is complete. Running service");
	ros::spin();
	return 0;
}