Load composable nodes in sequence #315
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Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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ivanpauno
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Apr 26, 2022
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Rpr failures seem unrelated, @sloretz could you double check them? |
The same 3 test failures happened in another PR job too, so they're probably unrelated. https://build.ros2.org/job/Rpr__launch_ros__ubuntu_jammy_amd64/24/#showFailuresLink |
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@sloretz Should we backport this to the |
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@Mergifyio backport humble |
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* Load composable nodes in sequence Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Undo whitespace change Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> (cherry picked from commit 7fa69bc)
✅ Backports have been created
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* Load composable nodes in sequence Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Undo whitespace change Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> Signed-off-by: Keng12 <k.chaig1@gmail.com>
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* Load composable nodes in sequence Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Undo whitespace change Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> (cherry picked from commit 7fa69bc) Co-authored-by: Shane Loretz <sloretz@osrfoundation.org>
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Fixes #312
Each
_load_composable_nodefunction creates its ownLoadComposableNodesaction. When there are multipleLoadComposableNodesactions it appears possible for them to load the nodes in a different order from the launch description.I think this is happening because the actual loading is passed to asyncio's
run_in_executor()' method. The docs say this uses aconcurrent.futures.ThreadPoolExecutor, so the order nodes get loaded depends on the scheduling of the threads in the executor.This PR fixes the test by loading both composable nodes in the same
LoadComposableNodesaction. This works because it explicitly loads the composable nodes in sequence.