[Dashing backport]: Fix race with launch context changes when loading composable nodes (#… #238
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) * 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. Backporting note: As far as I can tell, the *Composable* launch_ros classes in Dashing are not setup to be able to be tested. We would need to add a bunch of additional dependencies to write tests here. I didn't think that was worth it for Dashing, so I just removed the tests. Signed-off-by: Jacob Perron <jacob@openrobotics.org> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
jacobperron
approved these changes
May 19, 2021
hidmic
approved these changes
May 19, 2021
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Looking at the CI output, the flake8/pep257 errors are pre-existing, and not because of this PR. But I'd like confirmation from @nuclearsandwich before merging. |
Yeah, those linters weren't labeled correctly in Dashing so they show even with linters disabled. |
nuclearsandwich
approved these changes
May 19, 2021
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…166)
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
Signed-off-by: Jacob Perron jacob@openrobotics.org
Also added some debug logs to the load node action for posterity.
Backporting note: As far as I can tell, the Composable launch_ros classes in
Dashing are not setup to be able to be tested. We would need to add a bunch
of additional dependencies to write tests here. I didn't think
that was worth it for Dashing, so I just removed the tests.
Signed-off-by: Jacob Perron jacob@openrobotics.org
Signed-off-by: Chris Lalancette clalancette@openrobotics.org