This question has been cross-posted as I feel that it is more suited to ROS Answers. Please see here. My apologies. I am sharing a reference to this post on GitHub as well. Sorry for the trouble.

One of my nodes has many services, publishers, subscribers, and action servers. To be precise, there are 17 service servers, 1 publisher, 1 subscriber, and 1 action sever. This node is not responding. However, the node works when I remove any one item: publisher, subscriber, service server, or action server.

Required Info

• Operating System:
  • Ubuntu 20.04.4 LTS
• Installation type:
  • binaries
• Version or commit hash:
  • ROS Foxy
• DDS implementation:
  • Default
• Client library:
  • rclpy

Steps to reproduce issue

publishermemberfunction.py:

from action_tutorials_interfaces.action import Fibonacci
import rclpy
from rclpy.action import ActionServer
from rclpy.node import Node
from std_msgs.msg import String
from std_srvs.srv import SetBool, Trigger


class MinimalPublisher(Node):

    def __init__(self):
        super().__init__('minimal_publisher')
        self.pub = self.create_publisher(String, 'pub', 10)
        self.sub = self.create_subscription(String, 'sub', self.listener_cb, 10)
        self.srv_1 = self.create_service(SetBool, 'srv_1', self.set_bool_cb)
        self.srv_2 = self.create_service(SetBool, 'srv_2', self.set_bool_cb)
        self.srv_3 = self.create_service(SetBool, 'srv_3', self.set_bool_cb)
        self.srv_4 = self.create_service(SetBool, 'srv_4', self.set_bool_cb)
        self.srv_5 = self.create_service(SetBool, 'srv_5', self.set_bool_cb)
        self.srv_6 = self.create_service(SetBool, 'srv_6', self.set_bool_cb)
        self.srv_7 = self.create_service(SetBool, 'srv_7', self.set_bool_cb)
        self.srv_8 = self.create_service(SetBool, 'srv_8', self.set_bool_cb)
        self.srv_9 = self.create_service(SetBool, 'srv_9', self.set_bool_cb)
        self.srv_10 = self.create_service(Trigger, 'srv_10', self.trigger_cb)
        self.srv_11 = self.create_service(Trigger, 'srv_11', self.trigger_cb)
        self.srv_12 = self.create_service(Trigger, 'srv_12', self.trigger_cb)
        self.srv_13 = self.create_service(Trigger, 'srv_13', self.trigger_cb)
        self.srv_14 = self.create_service(Trigger, 'srv_14', self.trigger_cb)
        self.srv_15 = self.create_service(Trigger, 'srv_15', self.trigger_cb)
        self.srv_16 = self.create_service(Trigger, 'srv_16', self.trigger_cb)
        self.srv_17 = self.create_service(Trigger, 'srv_17', self.trigger_cb)
        self.ac_srv = ActionServer(self, Fibonacci, 'fib', self.execute_cb)
        self.timer = self.create_timer(1, self.timer_cb)

    def listener_cb(self, msg):
        self.get_logger().info(msg.data)

    def execute_cb(self, goal_handle):
        fb = Fibonacci.Feedback()
        fb.partial_sequence = [0, 1]
        for i in range(1, goal_handle.request.order):
            fb.partial_sequence.append(fb.partial_sequence[i] + fb.partial_sequence[i - 1])
            goal_handle.publish_feedback(fb)
        goal_handle.succeed()
        return Fibonacci.Result(sequence=fb.partial_sequence)

    def timer_cb(self):
        msg = String(data='Hello from Publisher')
        self.pub.publish(msg)

    def set_bool_cb(self, req, res):
        res.message = 'Hello from SetBool Service'
        return res

    def trigger_cb(self, req, res):
        res.message = 'Hello from Trigger Service'
        return res


def main(args=None):
    rclpy.init(args=args)
    minimal_publisher = MinimalPublisher()
    rclpy.spin(minimal_publisher)
    rclpy.shutdown()

if __name__ == '__main__':
    main()

Actual behavior

Upon calling services or echoing on topic, the node is not saying anything, as shown below:

ravi@dell:~/ros_ws$ ros2 service call /srv_1 std_srvs/srv/SetBool "{data: True}"
waiting for service to become available...
^C
ravi@dell:~/ros_ws$ ros2 topic echo /pub
^Cravi@dell:~/ros_ws$ 

Node Info

$ ros2 node info /minimal_publisher
/minimal_publisher
  Subscribers:
    /sub: std_msgs/msg/String
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /pub: std_msgs/msg/String
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /minimal_publisher/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /minimal_publisher/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /minimal_publisher/get_parameters: rcl_interfaces/srv/GetParameters
    /minimal_publisher/list_parameters: rcl_interfaces/srv/ListParameters
    /minimal_publisher/set_parameters: rcl_interfaces/srv/SetParameters
    /minimal_publisher/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
    /srv_1: std_srvs/srv/SetBool
    /srv_10: std_srvs/srv/Trigger
    /srv_11: std_srvs/srv/Trigger
    /srv_12: std_srvs/srv/Trigger
    /srv_13: std_srvs/srv/Trigger
    /srv_14: std_srvs/srv/Trigger
    /srv_15: std_srvs/srv/Trigger
    /srv_16: std_srvs/srv/Trigger
    /srv_17: std_srvs/srv/Trigger
    /srv_2: std_srvs/srv/SetBool
    /srv_3: std_srvs/srv/SetBool
    /srv_4: std_srvs/srv/SetBool
    /srv_5: std_srvs/srv/SetBool
    /srv_6: std_srvs/srv/SetBool
    /srv_7: std_srvs/srv/SetBool
    /srv_8: std_srvs/srv/SetBool
    /srv_9: std_srvs/srv/SetBool
  Service Clients:

  Action Servers:
    /fib: action_tutorials_interfaces/action/Fibonacci
  Action Clients:

Additional Info

The node works when I remove any one item: publisher, subscriber, service server, or action server.