destroying_publisher in rclpy fails when used with Cyclone DDS #762
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 20.04
- Installation type:
- binaries
- Version or commit hash:
- foxy
- DDS implementation:
- Cyclone DDS
- Client library (if applicable):
- rclpy
Steps to reproduce issue
Run following commands with Cyclone DDS
# clone sample python code with destroying publisher
mkdir -p ~/test_ws/src
cd ~/test_ws/src
git clone --single-branch --branch destroy_publisher https://github.com/mitsudome-r/examples
# build
cd ~/test_ws
colcon build
# run sample node
ros2 run examples_rclpy_minimal_publisher publisher_local_function
Expected behavior
Node runs, and you don't see the /topic in the publisher when you check with ros2 node info /minimal_publisher.
Actual behavior
Node shuts down with the following error
[INFO] [1617372037.108382091] [minimal_publisher]: Publishing: "Hello World: 0"
Traceback (most recent call last):
File "/home/mitsudome-r/test_ws/install/examples_rclpy_minimal_publisher/lib/examples_rclpy_minimal_publisher/publisher_local_function", line 11, in <module>
load_entry_point('examples-rclpy-minimal-publisher==0.9.4', 'console_scripts', 'publisher_local_function')()
File "/home/mitsudome-r/test_ws/install/examples_rclpy_minimal_publisher/lib/python3.8/site-packages/examples_rclpy_minimal_publisher/publisher_local_function.py", line 35, in main
rclpy.spin(node)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/__init__.py", line 191, in spin
executor.spin_once()
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 703, in spin_once
handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 689, in wait_for_ready_callbacks
return next(self._cb_iter)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 583, in _wait_for_ready_callbacks
waitable.add_to_wait_set(wait_set)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/qos_event.py", line 177, in add_to_wait_set
with self._event_handle as event_capsule:
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/handle.py", line 124, in __enter__
return self._get_capsule()
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/handle.py", line 106, in _get_capsule
raise InvalidHandle('Tried to use a handle that has been destroyed.')
rclpy.handle.InvalidHandle: Tried to use a handle that has been destroyed.
Additional information
Relevant code is located here within the forked repo: https://github.com/mitsudome-r/examples/blob/master/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_local_function.py
This does not occur with FastRTPS and only occurs when I switch to Cyclone DDS so I'm doubting it is something to do with rmw_cyclonedds implementation.