Fix crashing when content filter not supported by RMW

Author: minggangw

lib/action/client.js

@@ -118,6 +118,30 @@ class ActionClient extends Entity {
       this.qos.statusSubQosProfile
     );
 
+    // Probe that the RMW actually supports content filtering before enabling
+    // the optimization. Some RMW implementations (e.g. FastDDS) abort the
+    // process with SIGABRT instead of returning an error when content filter
+    // operations are attempted on an unsupported subscription, so we cannot
+    // rely on catching errors at first use like rclpy does.
+    if (this._enableFeedbackMsgOptimization) {
+      try {
+        const probeSub = node.createSubscription(
+          this._typeClass.impl.FeedbackMessage,
+          actionName + '/_action/feedback',
+          () => {}
+        );
+        const supported =
+          typeof probeSub.isContentFilterSupported === 'function' &&
+          probeSub.isContentFilterSupported();
+        probeSub.destroy();
+        if (!supported) {
+          this._enableFeedbackMsgOptimization = false;
+        }
+      } catch {
+        this._enableFeedbackMsgOptimization = false;
+      }
+    }
+
     node._addActionClient(this);
   }
 

test/test-action-client.js

@@ -317,6 +317,28 @@ describe('rclnodejs action client', function () {
       typeof nativeLoader.actionConfigureFeedbackSubFilterAddGoalId ===
       'function';
 
+    // Probe whether the RMW actually supports content filtering, matching
+    // the same check the ActionClient constructor performs.
+    let isContentFilterSupported = false;
+    before(function () {
+      if (isFeedbackFilterSupported()) {
+        try {
+          const Fibonacci_ = rclnodejs.require(fibonacci);
+          const probeSub = node.createSubscription(
+            Fibonacci_.FeedbackMessage,
+            'fibonacci/_action/feedback',
+            () => {}
+          );
+          isContentFilterSupported =
+            typeof probeSub.isContentFilterSupported === 'function' &&
+            probeSub.isContentFilterSupported();
+          probeSub.destroy();
+        } catch {
+          isContentFilterSupported = false;
+        }
+      }
+    });
+
     it('Test option defaults to false', function () {
       let client = new rclnodejs.ActionClient(node, fibonacci, 'fibonacci');
       assert.strictEqual(client._enableFeedbackMsgOptimization, false);
@@ -327,8 +349,8 @@ describe('rclnodejs action client', function () {
       let client = new rclnodejs.ActionClient(node, fibonacci, 'fibonacci', {
         enableFeedbackMsgOptimization: true,
       });
-      // Only enabled when native API exists
-      if (isFeedbackFilterSupported()) {
+      // Only enabled when native API exists AND the RMW supports content filtering
+      if (isFeedbackFilterSupported() && isContentFilterSupported) {
         assert.strictEqual(client._enableFeedbackMsgOptimization, true);
       } else {
         assert.strictEqual(client._enableFeedbackMsgOptimization, false);