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[foxy] Fix race with launch context changes when loading composable nodes (#166) #206

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merged 2 commits into from Nov 20, 2020
Merged

[foxy] Fix race with launch context changes when loading composable nodes (#166) #206

merged 2 commits into from Nov 20, 2020

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jacobperron
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@jacobperron jacobperron commented Nov 20, 2020 •
edited

Backport #166 to Foxy.

Since I plan to open up a bunch of Foxy backports, I've triggered CI for all of them together:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

Edit: failures and warnings are unrelated.

@jacobperron
Fix race with launch context changes when loading composable nodes (#166
c16e7e2 
)

* Fix race with launch context changes when loading composable nodes

This bug was discovered when trying load composable nodes from a GroupAction.
The ROS namespace (and presumably other remaps) pushed onto the context stack
was popped after the LoadComposableNodes execute() function finished.
But because the loading happens asynchronously, we need to make sure we get the
necessary information from the context before execute() finishes.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Add regression tests for LoadComposableNode

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Properly shutdown mock conatiner node

Also added some debug logs to the load node action for posterity.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron jacobperron added this to Proposed in Foxy Patch Release 4 via automation Nov 20, 2020
@jacobperron jacobperron moved this from Proposed to Needs release in Foxy Patch Release 4 Nov 20, 2020
mjeronimo
mjeronimo approved these changes Nov 20, 2020
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Minor doc update required.

launch_ros/launch_ros/actions/load_composable_nodes.py Outdated Show resolved Hide resolved
@jacobperron
Fix docblock in LoadComposableNodes (#207)
b3159a5 
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron jacobperron merged commit 400d061 into foxy Nov 20, 2020
@delete-merged-branch delete-merged-branch bot deleted the jacob/foxy_backport_166 branch November 20, 2020 22:46
This was referenced Nov 20, 2020
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@jacobperron jacobperron moved this from Needs release to Released in Foxy Patch Release 4 Dec 11, 2020
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