colcon test leaves zombie daemon process with different ROS_DOMAIN_ID #1097
Description
Generated by Generative AI
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Operating System:
Linux tomoyafujita-B760M-Pro-RS-D4 6.14.0-29-generic #29~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Aug 14 16:52:50 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
ROS version or commit hash:
rolling
RMW implementation (if applicable):
No response
RMW Configuration (if applicable):
No response
Client library (if applicable):
No response
'ros2 doctor --report' output
ros2 doctor --report
<COPY OUTPUT HERE>Steps to reproduce issue
root@tomoyafujita-B760M-Pro-RS-D4:~/ros2_ws/colcon_ws# ps -ef
UID PID PPID C STIME TTY TIME CMD
root 1 0 0 17:20 pts/0 00:00:00 /bin/bash
root 13 0 0 17:20 pts/1 00:00:00 /bin/bash
root 25 13 0 17:20 pts/1 00:00:00 ps -ef
root@tomoyafujita-B760M-Pro-RS-D4:~/ros2_ws/colcon_ws# source install/local_setup.bash
root@tomoyafujita-B760M-Pro-RS-D4:~/ros2_ws/colcon_ws# colcon test --event-handlers console_direct+ --packages-select ro
s2service
Starting >>> ros2service
============================= test session starts ==============================
...
[Processing: ros2service]
test/test_cli.py . [ 16%]
test/test_copyright.py . [ 33%]
test/test_echo.py . [ 50%]
test/test_flake8.py . [ 66%]
test/test_pep257.py . [ 83%]
test/test_xmllint.py . [100%]
--- generated xml file: /root/ros2_ws/colcon_ws/build/ros2service/pytest.xml ---
============================== 6 passed in 46.83s ==============================
Finished <<< ros2service [47.9s]
Summary: 1 package finished [48.8s]
root@tomoyafujita-B760M-Pro-RS-D4:~/ros2_ws/colcon_ws# ps -ef
UID PID PPID C STIME TTY TIME CMD
root 1 0 0 17:20 pts/0 00:00:00 /bin/bash
root 13 0 0 17:20 pts/1 00:00:00 /bin/bash
root 629 1 0 17:24 pts/1 00:00:00 /usr/bin/python3 -c from ros2cli.daemon.daemonize import main; main() --name ros2-daemon --ros-domain-id 37 --rmw-implementation rmw_fastrtps_dynamic_cpp
root 792 1 0 17:24 pts/1 00:00:00 /usr/bin/python3 -c from ros2cli.daemon.daemonize import main; main() --name ros2-daemon --ros-domain-id 18 --rmw-implementation rmw_cyclonedds_cpp
root 920 1 0 17:24 pts/1 00:00:00 /usr/bin/python3 -c from ros2cli.daemon.daemonize import main; main() --name ros2-daemon --ros-domain-id 49 --rmw-implementation rmw_fastrtps_cpp
root 1156 1 0 17:24 pts/1 00:00:00 /usr/bin/python3 -c from ros2cli.daemon.daemonize import main; main() --name ros2-daemon --ros-domain-id 78 --rmw-implementation rmw_fastrtps_dynamic_cpp
root 1235 1 0 17:24 pts/1 00:00:00 /usr/bin/python3 -c from ros2cli.daemon.daemonize import main; main() --name ros2-daemon --ros-domain-id 13 --rmw-implementation rmw_cyclonedds_cpp
root 1294 1 1 17:24 pts/1 00:00:00 /usr/bin/python3 -c from ros2cli.daemon.daemonize import main; main() --name ros2-daemon --ros-domain-id 83 --rmw-implementation rmw_fastrtps_cpp
root 1402 13 0 17:25 pts/1 00:00:00 ps -efExpected behavior
ros2 daemon process from isolation environment should be shutdown when tests complete.
Actual behavior
ros2 daemon process stays alive for each test completion.
Additional information
EnableRmwIsolation tries to allocated the available ROS_DOMAIN_ID for DDS based rmw_implementation, and then initiate the ros2 daemon right before each test to make sure it provides the isolated virtual environment. Each test makes sure to shut down the ros2 daemon at the test entry, but this is not working as expected because ROS_DOMAIN_ID is already different from default one.