Short description of my program:
static method A: gets a node passed, accesses a parameter server via an AsyncParametersClient
returns some information gained from the parameter server
static method B:gets a node passed: accesses a service that is hosted somewhere.
returns some information gained from the service
Both methods have somewhere a call to rclcpp::spin_until_future_complete.
Example:
When I call method A, A returns succesfully.
When I call method B, B will give me a segfault
Everytime I'm using a the service call in a static method (that succeeds), I cant do a second service call or a call to a parameter server because of a segfault at: rclcpp::spin_until_future_complete
gdb Backtrace:
#0 0x00000000006747b8 in std::__shared_ptr<std::__future_base::_State_baseV2, (__gnu_cxx::_Lock_policy)2>::operator-> (this=0x0) at /usr/include/c++/5/bits/shared_ptr_base.h:1055
#1 0x00007ffff201e263 in std::promise<std::shared_ptr<rcl_interfaces::srv::GetParameters_Response_<std::allocator<void> > > >::set_value(std::shared_ptr<rcl_interfaces::srv::GetParameters_Response_<std::allocator<void> > > const&) () from /home/firesurfer/workspace/ros2_ws/install/lib/librclcpp.so
#2 0x00007ffff201cfbb in rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::handle_response(std::shared_ptr<void>&, std::shared_ptr<void>&) ()
from /home/firesurfer/workspace/ros2_ws/install/lib/librclcpp.so
#3 0x00007ffff1fcc7f6 in rclcpp::executor::Executor::execute_client(std::shared_ptr<rclcpp::client::ClientBase>) () from /home/firesurfer/workspace/ros2_ws/install/lib/librclcpp.so
#4 0x00007ffff1fcc193 in rclcpp::executor::Executor::execute_any_executable(std::shared_ptr<rclcpp::executor::AnyExecutable>) () from /home/firesurfer/workspace/ros2_ws/install/lib/librclcpp.so
#5 0x00007ffff1fcbdf9 in rclcpp::executor::Executor::spin_once(std::chrono::duration<long, std::ratio<1l, 1000000000l> >) () from /home/firesurfer/workspace/ros2_ws/install/lib/librclcpp.so
#6 0x000000000069d5a1 in rclcpp::executor::Executor::spin_until_future_complete<std::shared_ptr<ros2_components_msg::srv::ListChilds_Response_<std::allocator<void> > >, std::ratio<1l, 1000l> > (
this=0x7fffffffd3f0, future=..., timeout=...) at /home/firesurfer/workspace/ros2_ws/install/include/rclcpp/executor.hpp:184
#7 0x000000000068c94d in rclcpp::executors::spin_node_until_future_complete<std::shared_ptr<ros2_components_msg::srv::ListChilds_Response_<std::allocator<void> > >, std::ratio<1l, 1000l> > (executor=...,
node_ptr=std::shared_ptr (count 12, weak 1) 0x974440, future=..., timeout=...) at /home/firesurfer/workspace/ros2_ws/install/include/rclcpp/executors.hpp:67
#8 0x0000000000679fe9 in rclcpp::spin_until_future_complete<std::shared_ptr<ros2_components_msg::srv::ListChilds_Response_<std::allocator<void> > >, std::ratio<1l, 1000l> > (
node_ptr=std::shared_ptr (count 12, weak 1) 0x974440, future=..., timeout=...) at /home/firesurfer/workspace/ros2_ws/install/include/rclcpp/executors.hpp:81
gdb output:
Program received signal SIGSEGV, Segmentation fault.
0x00000000006747b8 in std::__shared_ptr<std::__future_base::_State_baseV2, (__gnu_cxx::_Lock_policy)2>::operator-> (this=0x0) at /usr/include/c++/5/bits/shared_ptr_base.h:1055
1055 return _M_ptr;
Edit: Some further research showed that this behavior occurs every time I create a Client and destroy it. When I'm creating a new client afterwards and want to use it, I get a segfault
Edit2: After digging in the ros2 code I think the solution might be to tell the executor that a certain client doenst exist anymore
Short description of my program:
static method A: gets a node passed, accesses a parameter server via an AsyncParametersClient
returns some information gained from the parameter server
static method B:gets a node passed: accesses a service that is hosted somewhere.
returns some information gained from the service
Both methods have somewhere a call to rclcpp::spin_until_future_complete.
Example:
When I call method A, A returns succesfully.
When I call method B, B will give me a segfault
Everytime I'm using a the service call in a static method (that succeeds), I cant do a second service call or a call to a parameter server because of a segfault at: rclcpp::spin_until_future_complete
gdb Backtrace:
gdb output:
Edit: Some further research showed that this behavior occurs every time I create a Client and destroy it. When I'm creating a new client afterwards and want to use it, I get a segfault
Edit2: After digging in the ros2 code I think the solution might be to tell the executor that a certain client doenst exist anymore