From db89f6520e156d6b15e455eea4e27de2f31c2489 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Wed, 13 Nov 2024 09:56:11 -0500 Subject: [PATCH] workaround for rclpy's bug (https://github.com/ros2/rclpy/issues/1355) Signed-off-by: Daisuke Sato --- cabot_ui/scripts/cabot_ui_manager.py | 26 ++++++++++++++++---------- 1 file changed, 16 insertions(+), 10 deletions(-) diff --git a/cabot_ui/scripts/cabot_ui_manager.py b/cabot_ui/scripts/cabot_ui_manager.py index 3e7854f2..0dcb1396 100755 --- a/cabot_ui/scripts/cabot_ui_manager.py +++ b/cabot_ui/scripts/cabot_ui_manager.py @@ -614,18 +614,18 @@ def receiveSignal(signal_num, frame): act_node = Node("cabot_ui_manager_navigation_actions", start_parameter_services=False) soc_node = Node("cabot_ui_manager_navigation_social", start_parameter_services=False) nodes = [node, nav_node, tf_node, srv_node, act_node, soc_node] - executors = [MultiThreadedExecutor(), - MultiThreadedExecutor(), - SingleThreadedExecutor(), - SingleThreadedExecutor(), - MultiThreadedExecutor(), - SingleThreadedExecutor()] + executors = [MultiThreadedExecutor, + MultiThreadedExecutor, + SingleThreadedExecutor, + SingleThreadedExecutor, + MultiThreadedExecutor, + SingleThreadedExecutor] names = ["node", "tf", "nav", "srv", "act", "soc"] manager = CabotUIManager(node, nav_node, tf_node, srv_node, act_node, soc_node) threads = [] - for tnode, executor, name in zip(nodes, executors, names): - def run_node(target_node, executor, name): + for tnode, executor_type, name in zip(nodes, executors, names): + def run_node(target_node, executor_type, name): def _run_node(): # debug code to analyze the bottle neck of nodes # high frequency spinning node should have smaller number of waits @@ -633,6 +633,7 @@ def _run_node(): # import time # count = 0 # start = time.time() + executor = executor_type() executor.add_node(target_node) try: while rclpy.ok(): @@ -645,13 +646,18 @@ def _run_node(): # f" guards {len(list(target_node.guards))}\n" # f" waitables {len(list(target_node.waitables))}\n", # throttle_duration_sec=1.0) - executor.spin_once() + try: + executor.spin_once() + except rclpy._rclpy_pybind11.InvalidHandle: + node.get_logger().error(F"caught rclpy._rclpy_pybind11.InvalidHandle exception for {name} node, so recreate executor") + executor = executor_type() + executor.add_node(target_node) except: # noqa: 722 pass target_node.destroy_node() return _run_node - thread = threading.Thread(target=run_node(tnode, executor, name)) + thread = threading.Thread(target=run_node(tnode, executor_type, name)) thread.start() threads.append(thread)