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Asynchronously shutting down while using rclcpp::spin rclcpp:spin_some in another thread throws an exception #1139

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Asynchronously shutting down while using rclcpp::spin rclcpp:spin_some in another thread throws an exception#1139
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@ivanpauno

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@ivanpauno
ivanpauno
opened on May 27, 2020

This nightly failure is an example of the problem:

What is happening is that one thread is creating an executor, while other is trying to shutdown.
If shutdown is called before the creation of the Executor, an exception is thrown:

rclcpp/rclcpp_lifecycle/test/test_lifecycle_service_client.cpp

Lines 218 to 231 in 87bb9f9

void TearDown() override
{
rclcpp::shutdown();
spinner_.join();
}
void spin()
{
while (rclcpp::ok()) {
rclcpp::spin_some(lifecycle_node_->get_node_base_interface());
rclcpp::spin_some(lifecycle_client_);
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}

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