BasicNavigator doesn't clean up ActionClients #2923
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 20.04
- ROS2 Version:
- Galactic
- Version or commit hash:
- 1.0.8-1focal.20220203.051427
- DDS implementation:
- Fast-RTPS
Steps to reproduce issue
#!/bin/python3
import rclpy
from nav2_simple_commander.robot_navigator import BasicNavigator
rclpy.init()
nav = BasicNavigator()
nav.destroy_node()
Expected behavior
Clean exit
Actual behavior
Exits with 0 code but prints the following warning:
Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.
Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.
Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.
Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.
Exception ignored in: <function ActionClient.__del__ at 0x7f310cc98f70>
Traceback (most recent call last):
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 597, in __del__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/action/client.py", line 590, in destroy
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 122, in __enter__
File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/handle.py", line 104, in _get_capsule
rclpy._rclpy_pybind11.InvalidHandle: Tried to use a handle that has been destroyed.
Additional information
Looks like Node.destroy_node only destroys publishers, subscribers, etc. but doesn't handle ActionClients. I'll post a PR for this.