Bug report
Required Info:
- Operating System:
- Installation type:
- Version or commit hash:
- DDS implementation:
- Client library (if applicable):
Steps to reproduce issue
Run this broken mock node component container:
import time
import threading
from composition_interfaces.srv import LoadNode
import rclpy
import rclpy.context
import rclpy.executors
import rclpy.node
class MockComponentContainer(rclpy.node.Node):
def __init__(self):
# List of LoadNode requests received
self.requests = []
self._context = rclpy.context.Context()
rclpy.init(context=self._context)
super().__init__('mock_component_container', context=self._context)
self.load_node_service = self.create_service(LoadNode, '~/_container/load_node', self.load_node_callback)
self._executor = rclpy.executors.SingleThreadedExecutor(context=self._context)
# Start spinning in a thread
self._thread = threading.Thread(target=rclpy.spin, args=(self, self._executor), daemon=True)
self._thread.start()
def load_node_callback(self, request, response):
print(f'Request received: {request}')
self.requests.append(request)
response.success = True
response.full_node_name = f'{request.node_namespace}/{request.node_name}'
response.unique_id = len(self.requests)
# BROKEN HERE (forgot to return response)
def ok(self):
return rclpy.ok(context=self._context)
def main():
container = MockComponentContainer()
while container.ok():
time.sleep(1)
if __name__ == '__main__':
main()Launch a LoadComposableNodes action pointing to the broken container:
import launch
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
return launch.LaunchDescription([
LoadComposableNodes(
target_container='/mock_component_container',
composable_node_descriptions=[
ComposableNode(
package='demo_nodes_cpp',
plugin='demo_nodes_cpp::Talker',
)
]
)
])
Expected behavior
LoadComposableNodes action fails to load the node gracefully.
Actual behavior
The launch process hangs forever. Even trying to send sigint or sigquit fails. We need to sigkill the launch process.
Additional information
After some debugging, it appears that we get stuck in this synchronous service call:
|
response = self.__rclpy_load_node_client.call(request) |
And so the future being tracked by the launch context is never completed and launch waits indefinitely.
Perhaps there are two bugs here,
- Launch should probably not wait indefinitely for all futures to complete during shutdown. Rather, it should probably timeout and cancel these hung futures.
- We can fix the LoadComposableNodes action so that makes an asynchronous service call and monitors the launch shutdown state (similar to the LifecycleNode action) .
Bug report
Required Info:
Steps to reproduce issue
Run this broken mock node component container:
Launch a LoadComposableNodes action pointing to the broken container:
Expected behavior
LoadComposableNodes action fails to load the node gracefully.
Actual behavior
The launch process hangs forever. Even trying to send sigint or sigquit fails. We need to sigkill the launch process.
Additional information
After some debugging, it appears that we get stuck in this synchronous service call:
launch_ros/launch_ros/launch_ros/actions/load_composable_nodes.py
Line 103 in 91097d1
And so the future being tracked by the launch context is never completed and launch waits indefinitely.
Perhaps there are two bugs here,