ActionClient and ActionServer crash on destruction #524
Description
Bug report
Required Info:
- Operating System:
- Ubuntu Focal
- Installation type:
- from source
- Version or commit hash:
- master
- DDS implementation:
- Fast-RTPS, CycloneDDS
- Client library (if applicable):
- rclpy
Steps to reproduce issue
colcon test --packages-select test-communication
Expected behavior
Destroying the action client should happen gracefully.
Actual behavior
An error is thrown when the action client or the action server is garbage collected:
http://build.ros2.org/view/Fci/job/Fci__nightly-cyclonedds_ubuntu_focal_amd64/lastBuild/consoleText
17: Starting test run test_communication.test_action_client_server__rclpy__rmw_fastrtps_cpp_.launch_tests[Fibonacci]
17: [INFO] [launch]: All log files can be found below /home/buildfarm/.ros/log/2020-03-12-04-03-39-582329-e523ecceac2a-5255
17: [INFO] [launch]: Default logging verbosity is set to INFO
17: test_client_finishes_in_a_finite_amount_of_time[Fibonacci] (test_communication.TestActionClientServer)
17: Test that the second executable terminates after a finite amount of time. ... [INFO] [test_action_server-1]: process started with pid [5258]
17: [INFO] [test_action_client-2]: process started with pid [5260]
17: [test_action_client-2] Sending goal for test number 0
17: [test_action_client-2] Exception ignored in: <function ActionClient.__del__ at 0x7f2115f12700>
17: [test_action_client-2] Traceback (most recent call last):
17: [test_action_client-2] File "/tmp/ws/install_isolated/rclpy/lib/python3.8/site-packages/rclpy/action/client.py", line 596, in __del__
17: [test_action_client-2] File "/tmp/ws/install_isolated/rclpy/lib/python3.8/site-packages/rclpy/action/client.py", line 589, in destroy
17: [test_action_client-2] File "/tmp/ws/install_isolated/rclpy/lib/python3.8/site-packages/rclpy/handle.py", line 124, in __enter__
17: [test_action_client-2] File "/tmp/ws/install_isolated/rclpy/lib/python3.8/site-packages/rclpy/handle.py", line 106, in _get_capsule
17: [test_action_client-2] rclpy.handle.InvalidHandle: Tried to use a handle that has been destroyed.
17: [INFO] [test_action_client-2]: process has finished cleanly [pid 5260]
17: ok
17:
17: ----------------------------------------------------------------------
17: Ran 1 test in 1.187s
17:
17: OK
17: [INFO] [test_action_server-1]: sending signal 'SIGINT' to process[test_action_server-1]
17: [test_action_server-1] Exception ignored in: <function ActionServer.__del__ at 0x7fce84bc3040>
17: [test_action_server-1] Traceback (most recent call last):
17: [test_action_server-1] File "/tmp/ws/install_isolated/rclpy/lib/python3.8/site-packages/rclpy/action/server.py", line 625, in __del__
17: [test_action_server-1] File "/tmp/ws/install_isolated/rclpy/lib/python3.8/site-packages/rclpy/action/server.py", line 618, in destroy
17: [test_action_server-1] File "/tmp/ws/install_isolated/rclpy/lib/python3.8/site-packages/rclpy/handle.py", line 124, in __enter__
17: [test_action_server-1] File "/tmp/ws/install_isolated/rclpy/lib/python3.8/site-packages/rclpy/handle.py", line 106, in _get_capsule
17: [test_action_server-1] rclpy.handle.InvalidHandle: Tried to use a handle that has been destroyed.
17: [INFO] [test_action_server-1]: process has finished cleanly [pid 5258]
17: test_processes_finished_gracefully[Fibonacci] (test_communication.TestActionClientServerAfterShutdown)
17: Test that both executables finished gracefully. ... ok
17:
Additional information
We should probably not be using __del__ at all, since it executes when the object is garbage-collected, which happens at an indeterminate time. It should probably instead be cleaned up when the parent node terminates.
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