serviceproxy | Lightweight SOAP library for Ruby | SOAP library

You have the naming wrong when calling wait_for_service. Your service callback is called handle_ros_services but the service name itself is imu_value. Because of this your client will wait forever, because the former service name never actually gets brought up. Instead inside imu_client() you want the line

Windows by default uses CRLF line endings while Linux/Unix use LF line endings. If your application uses both windows and linux, its better to keep your code in LF since both platforms understand LF line endings.

A foolproof way to convert your code to unix compatible line endings is to use Vi/Vim and explicitly set the line endings to LF.

Use this command in Vi - :set ff=unix to set the line endings to LF. Your code should then work.

And to avoid further conflicts, while developing on Windows, make sure to check that your text editor line ending settings is set to LF.

Unfortunately there is no support for optional fields in either service or message files; it has been proposed a couple of times, though.

Instead, you can add another field to your srv to work as a bitvector. The new field can be used to designate which other "optional" fields are set and use their values accordingly.

Ok, so the implementation ended up something like this:

I don't think you can flow the Windows identity of the Dynamics client user to the web service this way. Dynamics plugins execute under one of three Windows accounts:

• The account running the Sandbox service (for synchronous plugins registered in the plugin sandbox)
• The account running the CRM web application pool (for synchronous plugins registered outside the sandbox)
• The account running the Asynchronous service (for asynchronous plugins)

On top of this is layered the Dynamics (systemuser) identity of the client user invoking the plugin, but not the Windows account. The Sandbox and Asynchronous services run in entirely separate processes from the web application, and likely have no way of knowing the Windows identity of the invoking user.

If the web service needs the CRM identity of the invoking user (in order to act as that user in CRM), you will need to:

• Pass the GUID of the client systemuser to the web service from the plugin.
• Probably also pass some way to identify the CRM organisation to the web service from the plugin, assuming multiple orgs are in use in the deployment.
• Authenticate to the web service using some other mechanism, e.g. Basic authentication, so that the service is still assured of being called only from the plugin.
• Have the web service configured with connection details for all relevant CRM orgs (rather than use the Discovery service), including its own systemuser account in those orgs.
• Grant the web service's systemuser the Dynamics impersonation privilege, so it can act as other users.
• When the web service is called:
  • Retrieve the appropriate connection details from configuration for the passed-in organisation.
  • Explicitly impersonate (using Dynamics impersonation) the passed-in systemuser GUID.

M. Deinum was right to much cluter was on my ControllerTest class, removing all annotations, but @SpringBootTest, also I had to create configuration solely for test case

So
rospy.wait_for_service("add_two_ints")
checks if the service is available and blocks as long as it cannot reach the service. And

You're on the right track.

1. Determine the partitionkey of the partition you want to interact with.
2. Create a service proxy using that info
3. Call the service

OK, I've solved this: first of all I was missing the following attribute on my contract implementation class: