AMCL fails in OSRF CI with "Promise already satisfied" exception

[crdelsey]

Bug report

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Steps to reproduce issue

View CI output here
http://build.ros2.org/view/Eci/job/Eci__nightly_navigation2_ubuntu_bionic_amd64/

Expected behavior

Actual behavior

Additional information

[amcl-6] [WARN] [amcl]: Waiting for map....
10:03:04 10: [amcl-6] terminate called after throwing an instance of 'std::future_error'
10:03:04 10: [amcl-6] what(): std::future_error: Promise already satisfied
10:03:04 10: [ERROR] [amcl-6]: process has died [pid 19138, exit code -6, cmd '/tmp/ws_overlay/install_isolated/nav2_amcl/lib/nav2_amcl/amcl __node:=amcl __params:=/tmp/ws_overlay/install_isolated/nav2_bringup/share/nav2_bringup/launch/nav2_params.yaml'].

[orduno]

Are there futures in AMCL? I don't recall using actions.

This might be an upstream issue.

I was getting the same issue when updating the Global Planner Tester #927. On my case, getting the result from the client instead of the goal handle seems to solve the issue.

auto future_goal_handle = client->async_send_goal(goal);

// check if the goal was sent and accepted

auto goal_handle = future_goal_handle.get()

auto future_result = planner_client->async_get_result(goal_handle);

[crdelsey]

I see the exception occur in world_model as well, so it does seem like it could be an upstream issue. We'll need to keep an eye on that one.

[SteveMacenski]

ros2/geometry2#143

Seems resolved, we can reopen if we see again