Call service in Micro-ROS while using custom QOS settings

• Hardware description: Portenta H7 & Ubuntu 22.04 PC
• Version or commit hash: humble with custom ros2 packages

While using custom QOS Settings as described in https://micro.ros.org/docs/tutorials/advanced/create_dds_entities_by_ref/, creating a client for a service using Micro-ROS fails with an error:
[XMLPARSER Error] Error parsing XML buffer -> Function loadXML

The MicroRos Arduino library has been re-compiled to include custom ROS2 message and service types, and also configured to use custom QOS via references, as explained in the previous link.

The same code can run without that service client, while using different topics and message types, as they have been correctly defined in the "custom_qos.refs". The problem comes in when trying to add a service, as I haven't found a way to set up the QOS for a service and its request/response.

If the MicroRos Arduino library is compiled without the QOS reference setting, the client also works as expected.

So far, I tried to include the service as if it were a topic but using "rs" instead of "rt", according to the ROS Specific Namespace Prefixes standard here. I also tried to replicate the configuration laid out in this ROS2 tutorial, but using a similar approach for the "custom_qos.refs" file did not work.

What's the way moving forward? Is there a way to use both custom QOS settings and ROS2 services in Micro-ROS? Or should I choose only the custom QOS or the services?

Thanks!

Reproduza a falha do cliente de serviço na configuração com Portenta H7 e Ubuntu 22.04, com as referências de QoS personalizadas habilitadas. Comece com custom_qos.refs e os tutoriais vinculados Micro-ROS DDS-entities e ROS 2 Fast DDS configuration, comparando os nomes das solicitações/respostas do serviço com as entradas de tópicos que funcionam. O trabalho estará concluído quando uma configuração funcional for documentada ou a incompatibilidade entre referências de QoS personalizadas e serviços for confirmada.