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avoid race in emitting event by using loop.call_soon_threadsafe() #119

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Jul 23, 2018
Merged

avoid race in emitting event by using loop.call_soon_threadsafe() #119

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2 changes: 1 addition & 1 deletion launch_ros/examples/lifecycle_pub_sub_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ def main(argv=sys.argv[1:]):
print('Starting launch of launch description...')
print('')

# ls = LaunchService(argv=argv, debug=True)
# ls = launch.LaunchService(argv=argv, debug=True)
ls = launch.LaunchService(argv=argv)
ls.include_launch_description(get_default_launch_description(prefix_output_with_name=False))
ls.include_launch_description(ld)
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5 changes: 3 additions & 2 deletions launch_ros/launch_ros/actions/lifecycle_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -70,9 +70,10 @@ def _on_transition_event(self, context, msg):
try:
event = StateTransition(action=self, msg=msg)
self.__current_state = ChangeState.valid_states[msg.goal_state.id]
context.emit_event_sync(event)
context.asyncio_loop.call_soon_threadsafe(lambda: context.emit_event_sync(event))
except Exception as exc:
print("Exception in handling of 'lifecycle.msg.TransitionEvent': {}".format(exc))
_logger.error(
"Exception in handling of 'lifecycle.msg.TransitionEvent': {}".format(exc))

def _call_change_state(self, request, context: launch.LaunchContext):
while not self.__rclpy_change_state_client.wait_for_service(timeout_sec=1.0):
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