AsyncParametersClient stacks in get parameter

[fafux]

OS: Ubuntu 20.04
ROS Distro: Foxy
Gazebo version: 11.12.0

Hi all,
I launch a Gazebo simulation with the joint state broadcaster and everything works.
Once I try to load my own controller, this stacks in the function "on_configure()" in which it tries to get a parameter. If I try to get the same parameter from the command line it works. Below, you can find the part of the code in which the controller stacks.

std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(get_node(), "/robot_state_publisher");
parameters_client->wait_for_service();
auto param = parameters_client->get_parameters({"robot_description"}).get();

It stacks in ".get()". The same code works without Gazebo.
I replicated the same error just adding the three lines of code to the example_position right after the declaration of the ros node substituting "get_node()" with "node". Also in this case stacks.

[bmagyar]

By "stacks" you mean "gets stuck"?

[fafux]

Yes sorry for the typos.

[fafux]

Do you have any update on this?
The problem is that I expect the robot_description to be a parameter of the controller_manager but it's not. I want to access from a custom ros2 controller to the robot_description. Since it's not a parameter of the controller manager, the only way to access it is from a client (both service or parameter). In both cases, waiting the response of the future blocks the execution.