An argument is missing in the 'outgoing' function of the class Protocol.

Description In ROS1 in version 0.11.15 a bug has been introduced. I was working with rosbridge via TCP and I got the following traceback in the terminal:

Traceback (most recent call last):
  File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
    self.run()
  File "/opt/ros/noetic/lib/python3/dist-packages/rosbridge_library/internal/services.py", line 78, in run
    self.error(e)
  File "/opt/ros/noetic/lib/python3/dist-packages/rosbridge_library/capabilities/call_service.py", line 116, in _failure
    self.protocol.send(outgoing_message)
  File "/opt/ros/noetic/lib/python3/dist-packages/rosbridge_library/protocol.py", line 277, in send
    self.outgoing(serialized, compression)
TypeError: send_message() takes from 1 to 2 positional arguments but 3 were given

Looking at the code I have seen that the outgoing() function working with websocket accepts a new parameter named compression. But in TCP it doesn’t work because the outgoing function is not overridden. Consequently the error shown above appears, because the base function does not accept that argument.

I have seen that in the classes RosbridgeTcpSocket, RosbridgeUdpSocket and RosbridgeWebSocket there is an assignment where self.protocol.outgoing = self.send_message and in the 3 definitions of the send_message function the compression argument is never given.

• Library Version: 0.11.15
• ROS Version: Noetic
• Platform / OS: Ubuntu 20.04

Steps To Reproduce Just establish a TCP connection and start transmission.

[ribes4]

@achim-k Tested and works correctly in a TCP transmission. Thanks for the quick response.

[achim-k]

@ribes4 could you confirm that #812 fixes the issue? I tested it locally but it would be great if you could test it as well. I didn’t add a unit test as it seemed to much work and on ros2 rosbridge_server does not provide UDP/TCP support anymore.

Will create a new release, which should land in noetic with the next sync expected to be early november.