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Check rclcpp::ok before sleeping for clean shutdown (backport #3484)#3485

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MarqRazz merged 2 commits intohumblefrom
mergify/bp/humble/pr-3484
May 29, 2025
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Check rclcpp::ok before sleeping for clean shutdown (backport #3484)#3485
MarqRazz merged 2 commits intohumblefrom
mergify/bp/humble/pr-3484

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@mergify mergify bot commented May 28, 2025

Description

In MTC PR#684 I found move_group fails to shut down cleanly when preempting motion. This is because we are asking the node to sleep when the stack has been requested to shut down. To fix this I added a simple guard to make sure rclcpp::ok() before sleeping.

Here is a snippet of the stack trace when shutting down.

[move_group-5] #10   Source "/root/my_ws/src/moveit2/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp", line 549, in scenePublishingThread [0x7d8db9c1afaf]
[move_group-5]         546:       planning_scene_publisher_->publish(msg);
[move_group-5]         547:       if (is_full)
[move_group-5]         548:         RCLCPP_DEBUG(logger_, "Published full planning scene: '%s'", msg.name.c_str());
[move_group-5]       > 549:       rate.sleep();
[move_group-5]         550:     }
[move_group-5] #9    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7d8db914c480, in rclcpp::Rate::sleep()
[move_group-5] #8    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7d8db90a0238, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>)

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers
This is an automatic backport of pull request #3484 done by [Mergify](https://mergify.com).

@MarqRazz @mergify
PSM: finish thread on rclcpp::shutdown (#3484)
f81636b 
Calling rate.sleep() on shutdown will crash

(cherry picked from commit f4cf780)

# Conflicts:
#	moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
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mergify bot commented May 28, 2025

Cherry-pick of f4cf780 has failed:

On branch mergify/bp/humble/pr-3484
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit f4cf780f8.
  (fix conflicts and run "git cherry-pick --continue")
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	both modified:   moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp

no changes added to commit (use "git add" and/or "git commit -a")

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

@mergify mergify bot added the conflicts label May 28, 2025
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codecov bot commented May 28, 2025 •
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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 50.95%. Comparing base (a60ed9f) to head (4d67b88).
Report is 1 commits behind head on humble.

Additional details and impacted files 
@@            Coverage Diff             @@
##           humble    #3485      +/-   ##
==========================================
- Coverage   50.96%   50.95%   -0.00%     
==========================================
  Files         390      390              
  Lines       32520    32521       +1     
==========================================
- Hits        16569    16568       -1     
- Misses      15951    15953       +2

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MarqRazz
MarqRazz approved these changes May 29, 2025
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Thanks for cleaning this up @rhaschke!

@MarqRazz MarqRazz merged commit 3f2d7f5 into humble May 29, 2025
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@MarqRazz MarqRazz deleted the mergify/bp/humble/pr-3484 branch May 29, 2025 14:22
@github-project-automation github-project-automation bot moved this to ✅ Done in MoveIt May 29, 2025
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@rhaschke rhaschke rhaschke left review comments

@MarqRazz MarqRazz MarqRazz approved these changes

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