fix(test_events_executor): destroy all nodes before shutdown#1538
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mjcarroll merged 1 commit intoros2:rollingfrom Nov 7, 2025
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fix(test_events_executor): destroy all nodes before shutdown#1538mjcarroll merged 1 commit intoros2:rollingfrom
mjcarroll merged 1 commit intoros2:rollingfrom
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Signed-off-by: yuanyuyuan <az6980522@gmail.com>
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Pulls: #1538
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Signed-off-by: yuanyuyuan <az6980522@gmail.com> (cherry picked from commit 162021a) # Conflicts: # rclpy/test/test_events_executor.py
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Signed-off-by: yuanyuyuan <az6980522@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
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) * Fix warnings from gcc. (#1501) Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update type_support to use new abcs Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Cleanup old test cases to use new automatic inference Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add content-filtered-topic interfaces (#1506) Signed-off-by: Barry Xu <Barry.Xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Added lock to protect futures for multithreaded executor (#1477) Signed-off-by: brennanmk <brennanmk2200@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * EventsExecutor: Handle async callbacks for services and subscriptions (#1478) Closes #1473 Signed-off-by: Brad Martin <bmartin@fatlxception.org> Co-authored-by: Brad Martin <bmartin@fatlxception.org> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * add spinning state for the Executor classes. (#1510) Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fixes Action.*_async futures never complete (#1308) Per rclpy:1123 If two seperate client server actions are running in seperate executors the future given to the ActionClient will never complete due to a race condition This fixes the calls to rcl handles potentially leading to deadlock scenarios by adding locks to there references Co-authored-by: Aditya Agarwal <aditya.kgp25@gmail.com> Co-authored-by: Jonathan Blixt <jmblixt3@gmail.com> Signed-off-by: Jonathan Blixt <jmblixt3@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * remove unused 'param_type' (#1524) 'param_type' is set but never used Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.1 Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove duplicate future handling from send_goal_async (#1532) A recent change intended to move this logic into a lock context, but actually ended up duplicating it instead. This fixes that by removing the duplicated logic outside of the lock. It also preserves the explicit typing annotation on the future. Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * fix(test_events_executor): destroy all nodes before shutdown (#1538) Signed-off-by: yuanyuyuan <az6980522@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * add BaseImpl Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add ImplT Support Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * fix changelong Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove accidental tuple (#1542) Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Allow action servers without execute callback (#1219) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * add : get clients, servers info (#1307) Signed-off-by: Minju, Lee <dlalswn531@naver.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.2 Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * update tests Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * ParameterEventHandler support ContentFiltering (#1531) * ParameterEventHandler support ContentFiltering Signed-off-by: Barry Xu <barry.xu@sony.com> * Address review comments Signed-off-by: Barry Xu <barry.xu@sony.com> --------- Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix issues with resuming async tasks awaiting a future (#1469) Signed-off-by: Błażej Sowa <bsowa123@gmail.com> Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.3 Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Increase clock accuracy (#1564) Signed-off-by: Florian Vahl <git@flova.de> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Use unconditional wait when possible. (#1563) Previously the max() value of the steady time was used as the default deadline. In some environments this results in overflows in the underlying pthread_cond_timedwait call, which waits for the conditional variable in the events queue implementation. Consequently, this lead to freezes in the executor. Reducing the deadline significantly helped, but using `cv.wait` instead of `cv_.wait_until` seems to be the cleaner solution. Signed-off-by: Florian Vahl <florian.vahl@dlr.de> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove default from switch with enum, so that compiler warns. (#1566) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix parameter parsing for unspecified target nodes (#1552) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Improve the compatibility of processing YAML parameter files (#1548) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Improve wildcard parsing and optimize the logic for parsing YAML para… (#1571) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Expose action graph functions as Node class methods. (#1574) * Expose action graph functions as Node class methods. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * address review comments to keep the warning consistent. Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> --------- Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> * Fix performance bug in MultiThreadedExecutor (hopefully) (#1547) Signed-off-by: Michael Tandy <git@mjt.me.uk> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.4 Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * use Msg over BaseMessage Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Use Srv over BaseService Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Use Action over BaseAction Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * lint Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update rclpy/rclpy/type_support.py Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> --------- Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> Signed-off-by: Barry Xu <Barry.Xu@sony.com> Signed-off-by: brennanmk <brennanmk2200@gmail.com> Signed-off-by: Brad Martin <bmartin@fatlxception.org> Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com> Signed-off-by: yuanyuyuan <az6980522@gmail.com> Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Minju, Lee <dlalswn531@naver.com> Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Błażej Sowa <bsowa123@gmail.com> Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Florian Vahl <git@flova.de> Signed-off-by: Florian Vahl <florian.vahl@dlr.de> Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Michael Tandy <git@mjt.me.uk> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Barry Xu <barry.xu@sony.com> Co-authored-by: Brennan Miller-Klugman <55165406+brennanmk@users.noreply.github.com> Co-authored-by: Brad Martin <52003535+bmartin427@users.noreply.github.com> Co-authored-by: Brad Martin <bmartin@fatlxception.org> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Jonathan <jmblixt3@gmail.com> Co-authored-by: Christian Rauch <Christian.Rauch@unileoben.ac.at> Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com> Co-authored-by: Yuyuan Yuan <az6980522@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Minju, Lee <70446214+leeminju531@users.noreply.github.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com> Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> Co-authored-by: Florian Vahl <git@flova.de> Co-authored-by: Michael Tandy <git@mjt.me.uk> Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>
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Description
This closes ros2/rmw_zenoh#852. rmw_zenoh failed to pass the test since the publisher declared in
test_async_subwas accidentally detected by the subsequenttest_pub_sub(the tests run in alphabetical order). The root cause is that the publisher node is not explicitly destroyed during the rclpy shutdown.To clarify, this behavior stems from the different mechanism used in rmw_zenoh compared to other DDS implementations. Specifically, the shutdown of rmw_zenoh doesn't immediately close the Zenoh session as long as other nodes are still alive. This aligns with the RMW philosophy that nodes and their associated entities such as publishers, subscriptions, and so on, are not explicitly destroyed by rmw_shutdown.
Introduing a sleep after
rclpy.shutdowndoes not solve the issue because the node data remain referenced until the object destruction phase. Meanwhile, the next test begins immediately and reads the stale liveliness token, causing the test to fail.This fix adotps the approach used in other tests by explicitly cleaning up the nodes to avoid such stale references.
Is this user-facing behavior change?
Did you use Generative AI?
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