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Only allow one spin_until_future_complete at a time #804

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merged 1 commit into from
Jun 5, 2019
Merged

Only allow one spin_until_future_complete at a time #804

merged 1 commit into from
Jun 5, 2019

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mjeronimo
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Description

  • Now that the BT nodes are derived from AsyncActionNode instead of CoroActionNode, it is possible for halt() to be called from a different thread while tick() is active. This PR ensures that only one spin_until_future_complete is active at a time. Without this, there is a race condition that can result in an "already on an executor" error.
  • This should fix the error we're seeing occasionally with the rviz action-based goal pose tool (since it's intermittent, it's hard to test. I've run many times without encountering the error again).

@mjeronimo mjeronimo added the nav2_lifecycle Related to the manged/lifecycle node implementation label Jun 4, 2019
@mjeronimo mjeronimo added this to the D Turtle Release milestone Jun 4, 2019
@mjeronimo mjeronimo self-assigned this Jun 4, 2019
@mjeronimo mjeronimo added this to In progress in Navigation 2 Kanban via automation Jun 4, 2019
orduno
orduno approved these changes Jun 4, 2019
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The error can be reproduced most of the time by making DWB fail. The DWB fail was not propagated successfully and the behaviour tree was still ticking ComputePathToPose.

I tested the PR and solves this problem. The DWB fail is propagated correctly and navigation fails as it should.

Navigation 2 Kanban automation moved this from In progress to Reviewer approved Jun 4, 2019
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orduno commented Jun 4, 2019

Correction: did some more testing and got error reproduced with this PR.

Screenshot from 2019-06-04 16-06-35

@orduno orduno mentioned this pull request Jun 4, 2019
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bpwilcox
bpwilcox approved these changes Jun 5, 2019
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I also tested this PR. It seem to resolve the previous crash upon cancel that @mhpanah had mentioned and the dwb_controller failure propogation issue @orduno discussed.

@mjeronimo mjeronimo merged commit 69e7962 into ros-navigation:lifecycle Jun 5, 2019
Navigation 2 Kanban automation moved this from Reviewer approved to Done Jun 5, 2019
SteveMacenski
SteveMacenski reviewed Jun 6, 2019
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nav2_tasks/include/nav2_tasks/bt_action_node.hpp
@@ -165,7 +171,10 @@ class BtActionNode : public BT::AsyncActionNode
if (status() == BT::NodeStatus::RUNNING) {
action_client_->async_cancel_goal(goal_handle_);
auto future_cancel = action_client_->async_cancel_goal(goal_handle_);
rclcpp::spin_until_future_complete(node_, future_cancel);
{
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Semantics, but this is right before leaving the scope of the if, so the additional scoping for the lock isn't required

mjeronimo pushed a commit that referenced this pull request Jun 6, 2019
Only allow one spin_until_future_complete at a time (#804)
871f0fc
crdelsey pushed a commit that referenced this pull request Jun 10, 2019
Only allow one spin_until_future_complete at a time (#804)
0370d8c
@mjeronimo mjeronimo deleted the serialize-spin-in-bt-action branch July 5, 2019 05:48
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@SteveMacenski SteveMacenski SteveMacenski left review comments

@bpwilcox bpwilcox bpwilcox approved these changes

@orduno orduno orduno approved these changes

@crdelsey crdelsey Awaiting requested review from crdelsey

@mhpanah mhpanah Awaiting requested review from mhpanah

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nav2_lifecycle Related to the manged/lifecycle node implementation
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@mjeronimo @orduno @SteveMacenski @bpwilcox