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9.4 Appendix 4 - ROS2 Services Compatibility

Custom services types(.srv) works between dockers when the name is the same, different names with same type do not work.

Results of testing services between different ROS2 versions

Server/Client	Foxy	Humble	Jazzy	Lyrical
Foxy	yes	yes		not tested
Humble	yes	yes	yes	not tested
Iron	not tested	maybe. See below	yes	not tested
Jazzy	not tested	maybe. See below	yes	not tested
Lyrical	not tested	not tested	not tested	yes

Note that ROS2 Humble was affected by a bug where node would leak memory if exposed to messages from newer versions of ROS2. While the version linked to the controller has been patched, other nodes such as your own, or the ones used in URCapX may still be vulnerable. Proceed with caution especially when mixing ROS2 versions older and newer than the one used in the controller.