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Fix/service availability race #3711

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Fix/service availability race #3711

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e9e7758
Fix race condition in service client initialization by waiting for se…
AravindhDeivaG Mar 21, 2026
9ae86c5
Added another argument in constructor call of MoveGroupInterfaceImpl …
AravindhDeivaG Apr 1, 2026
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19 changes: 18 additions & 1 deletion moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl

public:
MoveGroupInterfaceImpl(const rclcpp::Node::SharedPtr& node, const Options& opt,
const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const rclcpp::Duration& wait_for_servers)
const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const rclcpp::Duration& wait_for_servers,
const rclcpp::Duration wait_for_services = rclcpp::Duration(10,0))
: opt_(opt), node_(node), tf_buffer_(tf_buffer)
{
// We have no control on how the passed node is getting executed. To make sure MGI is functional, we're creating
Expand Down Expand Up @@ -165,6 +166,16 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
execute_action_client_ = rclcpp_action::create_client<moveit_msgs::action::ExecuteTrajectory>(
node_, rclcpp::names::append(opt_.move_group_namespace_, move_group::EXECUTE_ACTION_NAME), callback_group_);
execute_action_client_->wait_for_action_server(wait_for_servers.to_chrono<std::chrono::duration<double>>());

// Function to check if the service server is available
auto wait_for_service = [this](auto& client, const std::string& service_name, const rclcpp::Duration& duration) {
if (!client->wait_for_service(duration.to_chrono<std::chrono::duration<double>>()))
{
throw std::runtime_error("Service server not available for service: " + service_name +
". Is move_group running?");
}
RCLCPP_INFO(node_->get_logger(), "Service '%s' found.", service_name.c_str());
};

query_service_ = node_->create_client<moveit_msgs::srv::QueryPlannerInterfaces>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::QUERY_PLANNERS_SERVICE_NAME),
Expand All @@ -179,6 +190,12 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
cartesian_path_service_ = node_->create_client<moveit_msgs::srv::GetCartesianPath>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::CARTESIAN_PATH_SERVICE_NAME),
rmw_qos_profile_services_default, callback_group_);

// Check if service servers are available for all the clients
wait_for_service(query_service_, move_group::QUERY_PLANNERS_SERVICE_NAME, wait_for_services);
wait_for_service(get_params_service_, move_group::GET_PLANNER_PARAMS_SERVICE_NAME, wait_for_services);
wait_for_service(set_params_service_, move_group::SET_PLANNER_PARAMS_SERVICE_NAME, wait_for_services);
wait_for_service(cartesian_path_service_, move_group::CARTESIAN_PATH_SERVICE_NAME, wait_for_services);

// plan_grasps_service_ = pnode_->create_client<moveit_msgs::srv::GraspPlanning>(GRASP_PLANNING_SERVICE_NAME);

Expand Down
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