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Executables in examples_rclpy_executors #1263

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marcoag opened this issue Apr 30, 2024 · 2 comments
Closed

Executables in examples_rclpy_executors #1263

marcoag opened this issue Apr 30, 2024 · 2 comments
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@mikaelarguedas
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Build type: Debian Chip set: AMD64 DDS: CycloneDDS executable feature jazzy OS: Ubuntu Noble 24.04 version: 0.0.1

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@marcoag
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marcoag commented Apr 30, 2024

Configuration

  • OS: Ubuntu Noble 24.04
  • Chip set: AMD64
  • Build type: Debian
  • DDS: CycloneDDS

Process

Step 1 - Check callback_group

# StdIn - terminal 1
ros2 run examples_rclpy_executors callback_group

Step 2 - Check composed

# StdIn - terminal 1
ros2 run examples_rclpy_executors composed

Step 3 - Check custom_callback_group

# StdIn - terminal 1
ros2 run examples_rclpy_executors custom_callback_group

Step 4 - Check custom_executor

# StdIn - terminal 1
ros2 run examples_rclpy_executors custom_executor

Step 5 - Check listener

# StdIn - terminal 1
ros2 run examples_rclpy_executors listener

Step 6 - Check talker

# StdIn - terminal 1
ros2 run examples_rclpy_executors talker
@mikaelarguedas
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Tests passed ✔️

Step 1 - Check callback_group

Test passed ✔️

root@d8ff93e471d7:/opt/ros/jazzy# ros2 run examples_rclpy_executors callback_group
[INFO] [1714854772.690380990] [double_talker]: Publishing: "Hello World: 0"
[INFO] [1714854772.691833370] [listener]: I heard: "Hello World: 0"
[INFO] [1714854773.179725720] [double_talker]: Publishing: "Hello World: 1"
[INFO] [1714854773.181039059] [double_talker]: Publishing: "Hello World: 2"
[INFO] [1714854773.181367779] [listener]: I heard: "Hello World: 1"
[INFO] [1714854773.182036230] [listener]: I heard: "Hello World: 2"
[INFO] [1714854773.679438728] [double_talker]: Publishing: "Hello World: 3"
[INFO] [1714854773.680442159] [listener]: I heard: "Hello World: 3"
[INFO] [1714854774.180643576] [double_talker]: Publishing: "Hello World: 4"
[INFO] [1714854774.181946294] [double_talker]: Publishing: "Hello World: 5"
[INFO] [1714854774.182286870] [listener]: I heard: "Hello World: 4"
[INFO] [1714854774.182934428] [listener]: I heard: "Hello World: 5"

Step 2 - Check composed

Test passed ✔️

root@d8ff93e471d7:/opt/ros/jazzy# ros2 run examples_rclpy_executors composed
[INFO] [1714854980.905303534] [talker]: Publishing: "Hello World: 0"
[INFO] [1714854980.906060623] [listener]: I heard: "Hello World: 0"
[INFO] [1714854981.895956002] [talker]: Publishing: "Hello World: 1"
[INFO] [1714854981.897665414] [listener]: I heard: "Hello World: 1"
[INFO] [1714854982.895129943] [talker]: Publishing: "Hello World: 2"
[INFO] [1714854982.895835718] [listener]: I heard: "Hello World: 2"
[INFO] [1714854983.895062353] [talker]: Publishing: "Hello World: 3"
[INFO] [1714854983.895775443] [listener]: I heard: "Hello World: 3"
[INFO] [1714854984.895028327] [talker]: Publishing: "Hello World: 4"
[INFO] [1714854984.895780370] [listener]: I heard: "Hello World: 4"
[INFO] [1714854985.895040023] [talker]: Publishing: "Hello World: 5"
[INFO] [1714854985.895830531] [listener]: I heard: "Hello World: 5"

Step 3 - Check custom_callback_group

Test passed ✔️

root@d8ff93e471d7:/opt/ros/jazzy# ros2 run examples_rclpy_executors custom_callback_group
[INFO] [1714855031.671087026] [intermittent_talker]: Publishing: "Hello World: 0"
[INFO] [1714855031.760959487] [intermittent_talker]: Publishing: "Hello World: 1"
[INFO] [1714855031.860960666] [intermittent_talker]: Publishing: "Hello World: 2"
[INFO] [1714855031.960925493] [intermittent_talker]: Publishing: "Hello World: 3"
[INFO] [1714855032.060975176] [intermittent_talker]: Publishing: "Hello World: 4"
[INFO] [1714855032.161652560] [intermittent_talker]: Publishing: "Hello World: 5"
[INFO] [1714855032.260918398] [intermittent_talker]: Publishing: "Hello World: 6"
[INFO] [1714855032.361774195] [intermittent_talker]: Publishing: "Hello World: 7"
[INFO] [1714855032.460927184] [intermittent_talker]: Publishing: "Hello World: 8"
[INFO] [1714855032.560958518] [intermittent_talker]: Publishing: "Hello World: 9"
[INFO] [1714855032.660874076] [intermittent_talker]: Publishing: "Hello World: 10"
[INFO] [1714855032.760886397] [intermittent_talker]: Publishing: "Hello World: 11"
[INFO] [1714855033.061084001] [intermittent_talker]: Publishing: "Hello World: 12"
[INFO] [1714855033.561099728] [intermittent_talker]: Publishing: "Hello World: 13"
[INFO] [1714855034.061143071] [intermittent_talker]: Publishing: "Hello World: 14"
[INFO] [1714855034.561063454] [intermittent_talker]: Publishing: "Hello World: 15"
[INFO] [1714855035.061121279] [intermittent_talker]: Publishing: "Hello World: 16"
[INFO] [1714855035.561142873] [intermittent_talker]: Publishing: "Hello World: 17"
[INFO] [1714855036.061334475] [intermittent_talker]: Publishing: "Hello World: 18"
[INFO] [1714855036.561147035] [intermittent_talker]: Publishing: "Hello World: 19"
[INFO] [1714855037.061511626] [intermittent_talker]: Publishing: "Hello World: 20"

Step 4 - Check custom_executor

Test passed ✔️

root@d8ff93e471d7:/opt/ros/jazzy# ros2 run examples_rclpy_executors custom_executor
[INFO] [1714855080.096068489] [talker]: Publishing: "Hello World: 0"
[INFO] [1714855080.097238886] [listener]: I heard: "Hello World: 0"
[INFO] [1714855081.081860732] [talker]: Publishing: "Hello World: 1"
[INFO] [1714855081.082743345] [listener]: I heard: "Hello World: 1"
[INFO] [1714855082.081892641] [talker]: Publishing: "Hello World: 2"
[INFO] [1714855082.082695754] [listener]: I heard: "Hello World: 2"
[INFO] [1714855083.081976344] [talker]: Publishing: "Hello World: 3"
[INFO] [1714855083.083060555] [listener]: I heard: "Hello World: 3"
[INFO] [1714855084.082198447] [talker]: Publishing: "Hello World: 4"
[INFO] [1714855084.083364154] [listener]: I heard: "Hello World: 4"
[INFO] [1714855085.082266903] [talker]: Publishing: "Hello World: 5"
[INFO] [1714855085.083243870] [listener]: I heard: "Hello World: 5"

Step 5 - Check listener

Test passed ✔️

root@d8ff93e471d7:/opt/ros/jazzy# ros2 run examples_rclpy_executors listener
[INFO] [1714855199.121610458] [listener]: I heard: "Hello World: 0"
[INFO] [1714855200.099393933] [listener]: I heard: "Hello World: 1"
[INFO] [1714855201.099346911] [listener]: I heard: "Hello World: 2"
[INFO] [1714855202.099686330] [listener]: I heard: "Hello World: 3"
[INFO] [1714855203.099465038] [listener]: I heard: "Hello World: 4"
[INFO] [1714855204.099379485] [listener]: I heard: "Hello World: 5"
[INFO] [1714855205.099326363] [listener]: I heard: "Hello World: 6"
[INFO] [1714855206.099340007] [listener]: I heard: "Hello World: 7"

Step 6 - Check talker

Test passed ✔️

root@d8ff93e471d7:/# ros2 run examples_rclpy_executors talker
[INFO] [1714855199.108921265] [talker]: Publishing: "Hello World: 0"
[INFO] [1714855200.098613884] [talker]: Publishing: "Hello World: 1"
[INFO] [1714855201.098589009] [talker]: Publishing: "Hello World: 2"
[INFO] [1714855202.098671687] [talker]: Publishing: "Hello World: 3"
[INFO] [1714855203.098650453] [talker]: Publishing: "Hello World: 4"
[INFO] [1714855204.098651826] [talker]: Publishing: "Hello World: 5"
[INFO] [1714855205.098636203] [talker]: Publishing: "Hello World: 6"
[INFO] [1714855206.098679645] [talker]: Publishing: "Hello World: 7"

⚠️ For step 1 & 4, executables don't exit properly on Ctrl+C
I get the following stack traces consistently:

^CTraceback (most recent call last):
  File "/opt/ros/jazzy/lib/python3.12/site-packages/examples_rclpy_executors/callback_group.py", line 62, in main
    executor.spin()
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 308, in spin
    self.spin_once()
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 899, in spin_once
    self._spin_once_impl(timeout_sec)
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 878, in _spin_once_impl
    handler, entity, node = self.wait_for_ready_callbacks(
                            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 781, in wait_for_ready_callbacks
    return next(self._cb_iter)
           ^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 685, in _wait_for_ready_callbacks
    wait_set.wait(timeout_nsec)
KeyboardInterrupt

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/jazzy/lib/examples_rclpy_executors/callback_group", line 33, in <module>
    sys.exit(load_entry_point('examples-rclpy-executors==0.19.3', 'console_scripts', 'callback_group')())
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/ros/jazzy/lib/python3.12/site-packages/examples_rclpy_executors/callback_group.py", line 68, in main
    rclpy.shutdown()
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 130, in shutdown
    _shutdown(context=context)
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown
    context.shutdown()
  File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown
    self.__context.shutdown()
rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333
[ros2run]: Process exited with failure 1

@clalancette
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Both of those issues will be fixed by ros2/examples#379 , so closing this out. Thanks for testing!

@marcoag marcoag added the jazzy label May 16, 2024
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