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Fix mac rospy polling issue #1907

Merged
merged 2 commits into from
Mar 19, 2020
Merged

Fix mac rospy polling issue #1907

merged 2 commits into from
Mar 19, 2020

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smnogar
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@smnogar smnogar commented Mar 10, 2020

the topics.py fixes a problem that has broken rospy since c57b173. macOS was not using kqueue, which resulted in errors that look like:

Exception in thread Thread-2:
Traceback (most recent call last):
  File "/usr/local/Cellar/python/3.7.6_1/Frameworks/Python.framework/Versions/3.7/lib/python3.7/threading.py", line 926, in _bootstrap_inner
    self.run()
  File "/usr/local/Cellar/python/3.7.6_1/Frameworks/Python.framework/Versions/3.7/lib/python3.7/threading.py", line 870, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/ros/melodic/lib/python3.7/site-packages/rospy/impl/registration.py", line 276, in start
    self.run()
  File "/opt/ros/melodic/lib/python3.7/site-packages/rospy/impl/registration.py", line 310, in run
    get_topic_manager().check_all()
  File "/opt/ros/melodic/lib/python3.7/site-packages/rospy/topics.py", line 1203, in check_all
    t.check()
  File "/opt/ros/melodic/lib/python3.7/site-packages/rospy/topics.py", line 488, in check
    fds_to_remove = list(self.connection_poll.error_iter())
  File "/opt/ros/melodic/lib/python3.7/site-packages/rospy/topics.py", line 259, in error_poll_iter
    events = self.poller.poll(0)
RuntimeError: concurrent poll() invocation

This would happen something like 25% of the time, breaking the execution of that node instance.

Steve Nogar added 2 commits March 1, 2020 13:01
fix mac trying to use epoll instead of kqueue
53b5286 
macOS was incorrectly attempting to use epoll/poll instead of kqueue, occassionally generating errors such as RuntimeError: concurrent poll() invocation and breaking python nodes.
Merge branch 'noetic-devel' of https://github.com/ros/ros_comm into m…
3fe5a29 
…ac_polling
@smnogar smnogar mentioned this pull request Mar 10, 2020
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@dirk-thomas
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Thanks for the patch.

@dirk-thomas dirk-thomas merged commit 57d1d14 into ros:noetic-devel Mar 19, 2020
dirk-thomas pushed a commit that referenced this pull request Mar 20, 2020
@smnogar @dirk-thomas
fix mac trying to use epoll instead of kqueue (#1907)
432f362 
macOS was incorrectly attempting to use epoll/poll instead of kqueue, occassionally generating errors such as RuntimeError: concurrent poll() invocation and breaking python nodes.

Co-authored-by: Steve Nogar <snogar@gmail.com>
@dirk-thomas dirk-thomas mentioned this pull request Mar 20, 2020
Merged
@dirk-thomas dirk-thomas mentioned this pull request Aug 4, 2020
Merged
nim65s added a commit to nim65s/robotpkg that referenced this pull request Mar 12, 2021
@nim65s
[middleware/ros-comm] Update to v1.15.9
96b5ec0 
Because DEPEND_ABI.ros-comm.noetic?= ros-comm>=1.15

1.15.9 (2020-10-16)
-------------------
* Fix deadlock when service connection is dropped (ros/ros_comm#2074)
* Update maintainers (ros/ros_comm#2075)
* Fix case where accessing cached parameters shuts down another node (ros/ros_comm#2068)
* Fix spelling (ros/ros_comm#2066)
* Fix Lost Wake Bug in ROSOutAppender (ros/ros_comm#2033)
* Fix compatibility issue with boost 1.73 and above (ros/ros_comm#2023)
* Gracefully stop recording upon SIGTERM and SIGINT (ros/ros_comm#2038)
* Use heapq.merge instead of custom merge sort code (ros/ros_comm#2017)
* Fix handling of single quotes in command arguments on Windows (ros/ros_comm#2051)
* Clearer error message (ros/ros_comm#2035)
* Ignore underscores when parsing literal numeric values for Python 3 compatibility (ros/ros_comm#2022)
* Clear cached URI for a node that has gone offline (ros/ros_comm#2010)
* Add skip_cache parameter to rosnode_ping() (ros/ros_comm#2009)
* Install advertisetest (ros/ros_comm#2046)
* Use range instead of xrange for Python 3 compatibility (ros/ros_comm#2013)
* Fix to address CVE-2020-16124 (ros/ros_comm#2065)
* Fix XmlRpcValue::_doubleFormat being unused (ros/ros_comm#2003)

1.15.8 (2020-07-23)
-------------------
* change is_async_connected to use epoll when available (ros/ros_comm#1983)
* allow mixing latched and unlatched publishers (ros/ros_comm#1991)
* remove not existing NodeProxy from rospy __all_\_ (ros/ros_comm#2007)
* fix typo in topics.py (ros/ros_comm#1977)
* fix bad relative import (still Python 2 style) (ros/ros_comm#1973)
* improve shutdown message with duplicate node name (ros/ros_comm#1992)
* remove dependency on rostopic from rostest package (ros/ros_comm#2002)
* fix missing reload() function in Python 3 (ros/ros_comm#1968)
* add latch param to throttle (ros/ros_comm#1944)
* add const versions of XmlRpcValue converting operators (ros/ros_comm#1978)

1.15.7 (2020-05-28)
-------------------
* fix Windows build break (ros/ros_comm#1961)
* fix NameError in launch error handling (ros/ros_comm#1965)

1.15.6 (2020-05-21)
-------------------
* fix a bug that using a destroyed connection object (ros/ros_comm#1950)

1.15.5 (2020-05-15)
-------------------
* check if async socket connect is success or failure before TransportTCP::read() and TransportTCP::write() (ros/ros_comm#1954)
* fix bug that connection drop signal related funtion throw a bad_weak exception (ros/ros_comm#1940)
* multiple latched publishers per process on the same topic (ros/ros_comm#1544)
* fix negative numbers in ros statistics (ros/ros_comm#1531)
* remove extra \n in ROS_DEBUG (ros/ros_comm#1925)
* add option to repeat latched messages at the start of bag splits (ros/ros_comm#1850)
* fix bag migration failures caused by typo in connection_header assignment (ros/ros_comm#1952)
* fix brief description comments after members (ros/ros_comm#1920)
* add --sigint-timeout and --sigterm-timeout parameters (ros/ros_comm#1937)
* roslaunch-check: search dir recursively (ros/ros_comm#1914)
* sort printed nodes by namespace alphabetically (ros/ros_comm#1934)
* remove pycrypto import (not used) (ros/ros_comm#1922)
* avoid infinite recursion in rosrun tab completion when rosbash is not installed (ros/ros_comm#1948)
* fix bare pointer in topic_tools::ShapeShifter (ros/ros_comm#1722)
* clear message queue on simtime jumping back (ros/ros_comm#1518)
* use undefined dynamic_lookup on macOS (ros/ros_comm#1923)
* check if enough FDs are free, instead counting the total free FDs (ros/ros_comm#1929)

1.15.4 (2020-03-19)
-------------------
* restrict boost dependencies to components used (ros/ros_comm#1871)
* add exception for ConnectionAbortedError (ros/ros_comm#1908)
* fix mac trying to use epoll instead of kqueue (ros/ros_comm#1907)
* fix AttributeError: __exit__ (ros/ros_comm#1915, regression from 1.14.4)

1.15.3 (2020-02-28)
-------------------
* remove Boost version check since Noetic only targets platforms with 1.67+ (ros/ros_comm#1903)

1.15.2 (2020-02-25)
-------------------
* export missing Boost dependency (ros/ros_comm#1898)
* add timestamp formatting for rosconsole (ros/ros_comm#1892)

1.15.1 (2020-02-24)
-------------------
* fix missing boost dependencies (ros/ros_comm#1895)
* use setuptools instead of distutils (ros/ros_comm#1870)
* increase time limit of advertisetest/publishtest.test to reduce flakyness (ros/ros_comm#1897)

1.15.0 (2020-02-21)
-------------------
* fix dictionary changed size during iteration (ros/ros_comm#1894)
* update test to pass with old and new yaml (ros/ros_comm#1893)

Packaging changes:
- removed patch-an, as there are no more boost version checks
- updated patch-ao
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@smnogar @dirk-thomas