From c4514d235cbc215cfe17bbd1d6311d21fa911922 Mon Sep 17 00:00:00 2001
From: "-T.K.-" <t_k_233@outlook.com>
Date: Mon, 11 Nov 2024 13:26:16 -0800
Subject: [PATCH] FIX: fix std::future_error

when running `ros2 run rl_sar rl_sim`, get:

```bash
terminate called after throwing an instance of 'std::future_error'
  what():  std::future_error: No associated state
```
---
 src/rl_sar/src/rl_sim.cpp | 42 ++++++++++++++++++++-------------------
 1 file changed, 22 insertions(+), 20 deletions(-)

diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp
index 57cf071..061fc19 100644
--- a/src/rl_sar/src/rl_sim.cpp
+++ b/src/rl_sar/src/rl_sim.cpp
@@ -12,30 +12,32 @@ RL_Sim::RL_Sim()
     param_client = this->create_client<rcl_interfaces::srv::GetParameters>("/param_node/get_parameters");
     while (!param_client->wait_for_service(std::chrono::seconds(1)))
     {
+        if (!rclcpp::ok()) {
+            std::cout << LOGGER::ERROR << "Interrupted while waiting for param_node service. Exiting." << std::endl;
+            return;
+        }
         std::cout << LOGGER::WARNING << "Waiting for param_node service to be available..." << std::endl;
     }
     auto request = std::make_shared<rcl_interfaces::srv::GetParameters::Request>();
-    request->names.push_back("robot_name");
-    request->names.push_back("gazebo_model_name");
-    auto future = param_client->async_send_request(request);
-    rclcpp::spin_until_future_complete(this->get_node_base_interface(), future);
-    if (future.get()->values.size() < 2)
-    {
-        std::cout << LOGGER::WARNING << "Failed to get all parameters from param_node" << std::endl;
-    }
-    else
-    {
-        this->robot_name = future.get()->values[0].string_value;
-        this->gazebo_model_name = future.get()->values[1].string_value;
-        std::cout << LOGGER::INFO << "Get param robot_name: " << this->robot_name << std::endl;
-        std::cout << LOGGER::INFO << "Get param gazebo_model_name: " << this->gazebo_model_name << std::endl;
-    }
+    request->names = {"robot_name", "gazebo_model_name"};
 
-    // // get params from this node
-    // this->declare_parameter<std::string>("robot_name", "");
-    // this->get_parameter("robot_name", this->robot_name);
-    // this->declare_parameter<std::string>("gazebo_model_name", "");
-    // this->get_parameter("gazebo_model_name", this->gazebo_model_name);
+    // Use a timeout for the future
+    auto future = param_client->async_send_request(request);
+    auto status = rclcpp::spin_until_future_complete(this->get_node_base_interface(), future, std::chrono::seconds(5));
+
+    if (status == rclcpp::FutureReturnCode::SUCCESS) {
+        auto result = future.get();
+        if (result->values.size() < 2) {
+            std::cout << LOGGER::ERROR << "Failed to get all parameters from param_node" << std::endl;
+        } else {
+            this->robot_name = result->values[0].string_value;
+            this->gazebo_model_name = result->values[1].string_value;
+            std::cout << LOGGER::INFO << "Get param robot_name: " << this->robot_name << std::endl;
+            std::cout << LOGGER::INFO << "Get param gazebo_model_name: " << this->gazebo_model_name << std::endl;
+        }
+    } else {
+        std::cout << LOGGER::ERROR << "Failed to call param_node service" << std::endl;
+    }
 
     // read params from yaml
     this->ReadYaml(this->robot_name);