fix(test_events_executor): destroy all nodes before shutdown (backport #1538)#1541
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mergify[bot] wants to merge 1 commit intohumblefrom
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fix(test_events_executor): destroy all nodes before shutdown (backport #1538)#1541mergify[bot] wants to merge 1 commit intohumblefrom
mergify[bot] wants to merge 1 commit intohumblefrom
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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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Cherry-pick of 162021a has failed: To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally |
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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?
Additional Information
This is an automatic backport of pull request fix(test_events_executor): destroy all nodes before shutdown #1538 done by Mergify.