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Sleep in rospy wait_for_service even if exceptions raised#1025
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dirk-thomas merged 1 commit intoros:lunar-develfrom May 22, 2017
Merged
Sleep in rospy wait_for_service even if exceptions raised#1025dirk-thomas merged 1 commit intoros:lunar-develfrom
dirk-thomas merged 1 commit intoros:lunar-develfrom
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dirk-thomas
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Apr 20, 2017
| if contact_service(resolved_name, timeout_t-time.time()): | ||
| return | ||
| time.sleep(0.3) | ||
| return |
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Please remove the added trailing whitespaces.
Same below.
| if first: | ||
| first = False | ||
| rospy.core.logerr("wait_for_service(%s): failed to contact [%s], will keep trying"%(resolved_name, uri)) | ||
| time.sleep(0.3) |
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With the sleep being moved here the call is not retried immediately but during the 0.3s sleep the call is not being retried yet. That seems to be not the idea of the code. Which exception is being reused in your case and what timeout are you using?
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The rosgraph.MasterException from the nested contact_service function.
The problem is the immediately re-trying of the call. This spams the ros master with service lookups without any sleep.
For me the original logic seems:
- If can contact the service, return immediately. Else sleep.
- Ohh, we should add some exception checking somewhere here
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|
Thanks for the patch. |
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If a service is not actually up, wait_for_service will throw an exception at the contact_service call and skip the sleeping.
This leads to the loop being executed without sleep, burning a lot of CPU.
This makes sure we always sleep. Sleep is good for your health.