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Fix Callback execution in MGI (backport #1305) (#1461)
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The initial implementation with the private node allowed for concurrent spinning of the same node, producing runtime exceptions. This change removes the need for a private node by letting MGI manage its own CallbackGroup and Executor thread.

(cherry picked from commit 042186a)

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
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@mergify @henningkayser
mergify[bot] and henningkayser committed Aug 10, 2022
1 parent bb82b64 commit a3955c5
Showing 1 changed file with 39 additions and 26 deletions.
65 changes: 39 additions & 26 deletions moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,13 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const rclcpp::Duration& wait_for_servers)
: opt_(opt), node_(node), tf_buffer_(tf_buffer)
{
pnode_ = std::make_shared<rclcpp::Node>("move_group_interface_node");
// We have no control on how the passed node is getting executed. To make sure MGI is functional, we're creating
// our own callback group which is managed in a separate callback thread
callback_group_ = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive,
false /* don't spin with node executor */);
callback_executor_.add_callback_group(callback_group_, node->get_node_base_interface());
callback_thread_ = std::thread([this]() { callback_executor_.spin(); });

robot_model_ = opt.robot_model_ ? opt.robot_model_ : getSharedRobotModel(node_, opt.robot_description_);
if (!getRobotModel())
{
Expand Down Expand Up @@ -145,19 +151,19 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
end_effector_link_ = joint_model_group_->getLinkModelNames().back();
pose_reference_frame_ = getRobotModel()->getModelFrame();
// Append the slash between two topic components
trajectory_event_publisher_ = pnode_->create_publisher<std_msgs::msg::String>(
trajectory_event_publisher_ = node_->create_publisher<std_msgs::msg::String>(
rclcpp::names::append(opt_.move_group_namespace_,
trajectory_execution_manager::TrajectoryExecutionManager::EXECUTION_EVENT_TOPIC),
1);
attached_object_publisher_ = pnode_->create_publisher<moveit_msgs::msg::AttachedCollisionObject>(
attached_object_publisher_ = node_->create_publisher<moveit_msgs::msg::AttachedCollisionObject>(
rclcpp::names::append(opt_.move_group_namespace_,
planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC),
1);

current_state_monitor_ = getSharedStateMonitor(node_, robot_model_, tf_buffer_);

move_action_client_ = rclcpp_action::create_client<moveit_msgs::action::MoveGroup>(
pnode_, rclcpp::names::append(opt_.move_group_namespace_, move_group::MOVE_ACTION));
node_, rclcpp::names::append(opt_.move_group_namespace_, move_group::MOVE_ACTION), callback_group_);
move_action_client_->wait_for_action_server(wait_for_servers.to_chrono<std::chrono::duration<double>>());
// TODO(JafarAbdi): Enable once moveit_ros_manipulation is ported
// pick_action_client_ = rclcpp_action::create_client<moveit_msgs::action::Pickup>(
Expand All @@ -168,18 +174,22 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
// node_, move_group::PLACE_ACTION);
// place_action_client_->wait_for_action_server(std::chrono::nanoseconds(timeout_for_servers.nanoseconds()));
execute_action_client_ = rclcpp_action::create_client<moveit_msgs::action::ExecuteTrajectory>(
pnode_, rclcpp::names::append(opt_.move_group_namespace_, move_group::EXECUTE_ACTION_NAME));
node_, rclcpp::names::append(opt_.move_group_namespace_, move_group::EXECUTE_ACTION_NAME), callback_group_);
execute_action_client_->wait_for_action_server(wait_for_servers.to_chrono<std::chrono::duration<double>>());

query_service_ = pnode_->create_client<moveit_msgs::srv::QueryPlannerInterfaces>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::QUERY_PLANNERS_SERVICE_NAME));
get_params_service_ = pnode_->create_client<moveit_msgs::srv::GetPlannerParams>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::GET_PLANNER_PARAMS_SERVICE_NAME));
set_params_service_ = pnode_->create_client<moveit_msgs::srv::SetPlannerParams>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::SET_PLANNER_PARAMS_SERVICE_NAME));
query_service_ = node_->create_client<moveit_msgs::srv::QueryPlannerInterfaces>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::QUERY_PLANNERS_SERVICE_NAME),
rmw_qos_profile_services_default, callback_group_);
get_params_service_ = node_->create_client<moveit_msgs::srv::GetPlannerParams>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::GET_PLANNER_PARAMS_SERVICE_NAME),
rmw_qos_profile_services_default, callback_group_);
set_params_service_ = node_->create_client<moveit_msgs::srv::SetPlannerParams>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::SET_PLANNER_PARAMS_SERVICE_NAME),
rmw_qos_profile_services_default, callback_group_);

cartesian_path_service_ = pnode_->create_client<moveit_msgs::srv::GetCartesianPath>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::CARTESIAN_PATH_SERVICE_NAME));
cartesian_path_service_ = node_->create_client<moveit_msgs::srv::GetCartesianPath>(
rclcpp::names::append(opt_.move_group_namespace_, move_group::CARTESIAN_PATH_SERVICE_NAME),
rmw_qos_profile_services_default, callback_group_);

// plan_grasps_service_ = pnode_->create_client<moveit_msgs::srv::GraspPlanning>(GRASP_PLANNING_SERVICE_NAME);

Expand All @@ -190,6 +200,11 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
{
if (constraints_init_thread_)
constraints_init_thread_->join();

callback_executor_.cancel();

if (callback_thread_.joinable())
callback_thread_.join();
}

const std::shared_ptr<tf2_ros::Buffer>& getTF() const
Expand Down Expand Up @@ -222,8 +237,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
auto req = std::make_shared<moveit_msgs::srv::QueryPlannerInterfaces::Request>();
auto future_response = query_service_->async_send_request(req);

// wait until future is done
if (rclcpp::spin_until_future_complete(pnode_, future_response) == rclcpp::FutureReturnCode::SUCCESS)
if (future_response.valid())
{
const auto& response = future_response.get();
if (!response->planner_interfaces.empty())
Expand All @@ -239,7 +253,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
{
auto req = std::make_shared<moveit_msgs::srv::QueryPlannerInterfaces::Request>();
auto future_response = query_service_->async_send_request(req);
if (rclcpp::spin_until_future_complete(pnode_, future_response) == rclcpp::FutureReturnCode::SUCCESS)
if (future_response.valid())
{
const auto& response = future_response.get();
if (!response->planner_interfaces.empty())
Expand All @@ -259,10 +273,10 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
req->group = group;
std::map<std::string, std::string> result;

auto res = get_params_service_->async_send_request(req);
if (rclcpp::spin_until_future_complete(pnode_, res) == rclcpp::FutureReturnCode::SUCCESS)
auto future_response = get_params_service_->async_send_request(req);
if (future_response.valid())
{
response = res.get();
response = future_response.get();
for (unsigned int i = 0, end = response->params.keys.size(); i < end; ++i)
result[response->params.keys[i]] = response->params.values[i];
}
Expand Down Expand Up @@ -796,7 +810,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
// wait until send_goal_opts.result_callback is called
while (!done)
{
rclcpp::spin_some(pnode_);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

Expand Down Expand Up @@ -876,7 +889,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
// wait until send_goal_opts.result_callback is called
while (!done)
{
rclcpp::spin_some(pnode_);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

Expand Down Expand Up @@ -945,7 +957,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
// wait until send_goal_opts.result_callback is called
while (!done)
{
rclcpp::spin_some(pnode_);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

Expand Down Expand Up @@ -979,10 +990,10 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
req->avoid_collisions = avoid_collisions;
req->link_name = getEndEffectorLink();

auto res = cartesian_path_service_->async_send_request(req);
if (rclcpp::spin_until_future_complete(pnode_, res) == rclcpp::FutureReturnCode::SUCCESS)
auto future_response = cartesian_path_service_->async_send_request(req);
if (future_response.valid())
{
response = res.get();
response = future_response.get();
error_code = response->error_code;
if (response->error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
{
Expand Down Expand Up @@ -1360,7 +1371,9 @@ class MoveGroupInterface::MoveGroupInterfaceImpl

Options opt_;
rclcpp::Node::SharedPtr node_;
rclcpp::Node::SharedPtr pnode_;
rclcpp::CallbackGroup::SharedPtr callback_group_;
rclcpp::executors::SingleThreadedExecutor callback_executor_;
std::thread callback_thread_;
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
moveit::core::RobotModelConstPtr robot_model_;
planning_scene_monitor::CurrentStateMonitorPtr current_state_monitor_;
Expand Down

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