list_controllers is not returning

[ravijo]

Describe the bug
The command ros2 control list_controllers is not returning anything and stays alive forever as if it hang!

To Reproduce

 ros2 control list_controllers
^C^C^C^C
^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C

Environment (please complete the following information):

• OS: Ubuntu 22.04.3 LTS
• Version: Humble (Binary install)
• Using Cyclone DDS (As suggested by MoveIt)
• Have ROS Iron as well (But not source)

[bmagyar]

Could you also give me versions of controller_manager and ros2controlcli? From the package.xml-s

…

________________________________ From: Ravi Joshi ***@***.***> Sent: Sunday, September 24, 2023 2:45:32 PM To: ros-controls/ros2_control ***@***.***> Cc: Subscribed ***@***.***> Subject: [ros-controls/ros2_control] list_controllers is not returning (Issue #1121) Describe the bug The command ros2 control list_controllers is not returning anything and stays alive forever as if it hang! To Reproduce ros2 control list_controllers ^C^C^C^C ^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C Environment (please complete the following information): * OS: Ubuntu 22.04.3 LTS * Version: Humble (Binary install) * Using Cyclone DDS (As suggested by MoveIt) * Have ROS Iron as well (But not source) — Reply to this email directly, view it on GitHub<#1121>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AA24PYI43S76QMD466XTSFLX4A2PZANCNFSM6AAAAAA5E6O2FU>. You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[ravijo]

@bmagyar

I restarted the workstation and not it resturns properly.

$ ros2 control list_controllers 
Could not contact service /controller_manager/list_controllers

This issue can be closed! Thank you very much.

[ravijo]

@bmagyar

I came accross the same issue again. I noticed that somehow when I am invoking the ur_robot_driver, the ``ros2 control list_controllers ` does not return anything and stays alive forever.

$ ros2 launch ur_robot_driver ur5e.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=true initial_joint_controller:=joint_trajectory_controller launch_rviz:=false
...
...
...
[ros2_control_node-1] 2023-09-26 21:06:47.155 [RTPS_READER_HISTORY Error] Change payload size of '24' bytes is larger than the history payload size of '11' bytes and cannot be resized. -> Function can_change_be_added_nts

Version Info

• ros-humble-controller-manager: 2.31.0-1jammy.20230919.235447
• ros-humble-ros2-control: 2.31.0-1jammy.20230920.001409

PS: It may be related to this issue.