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CodeFinder2 opened this issue Feb 17, 2020 · 2 comments · Fixed by #193
Closed

trigger() blocks forever - bug? #146

CodeFinder2 opened this issue Feb 17, 2020 · 2 comments · Fixed by #193

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@CodeFinder2
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Hi,

I am facing the problem that

    ROS_ERROR("FOO");
    visual_tools->trigger();
    ROS_ERROR("BAR");

does not return. Even when Rviz connects, nothing will happen. I don't know if this is related to my issue but note that neither visual_tools->loadMarkerPub(false, true); nor visual_tools->loadMarkerPub(true, true); is working. (I am requiring latched topics.)

Once I comment this block:

  // Check if connected to a subscriber
  if (!pub_rviz_markers_waited_ && !pub_rviz_markers_connected_)
  {
    ROS_DEBUG_STREAM_NAMED(LOGNAME, "Waiting for subscribers before publishing markers...");
    waitForSubscriber(pub_rviz_markers_);

    // Only wait for the publisher once, after that just ignore the lack of connection
    pub_rviz_markers_waited_ = true;
  }

in the implementation of RvizVisualTools::publishMarkers() (invoked by trigger()), it is working fine.

Is this a bug? IMHO, there should be the possibility to skip the waitForSubscriber().
@CodeFinder2
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CodeFinder2 commented Feb 17, 2020 •
edited
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Okay, nevermind: it is related to the ros::spinOnce() in RvizVisualTools::waitForSubscriber(). I have previously locked a mutex and if spinOnce() invokes a callback (locking the mutex again), it deadlocks.

So, would it be possible to skip waitForSubscriber()? Probably adding an additonal parameter?

@mfocchi
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mfocchi commented Nov 19, 2020

Me and all my research group have the exact same issue. Is it going to be fixed? In which version?

jspricke added a commit to jspricke/rviz_visual_tools that referenced this issue Aug 2, 2021
@jspricke
Move pub_rviz_markers_ to it's own callback queue
e1dc521 
waitForSubscriber used to call ros::spinOnce() which could trigger
callbacks from other topics in other threads. In case those have a lock
to only get called once, this would look the visual_tools thread.

Closes: PickNikRobotics#146
@jspricke jspricke mentioned this issue Aug 2, 2021
Merged
JafarAbdi pushed a commit that referenced this issue Oct 5, 2022
@jspricke
Move pub_rviz_markers_ to it's own callback queue (#193)
74b92d8 
waitForSubscriber used to call ros::spinOnce() which could trigger
callbacks from other topics in other threads. In case those have a lock
to only get called once, this would look the visual_tools thread.

Closes: #146
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Move pub_rviz_markers_ to it's own callback queue jspricke/rviz_visual_tools
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@mfocchi @CodeFinder2