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cherry-pick(2759f8a): fix composable node loading when there are several nodes in a co… #42

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111 changes: 57 additions & 54 deletions launch_ros/launch_ros/actions/load_composable_nodes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,8 @@
class LoadComposableNodes(Action):
"""Action that loads composable ROS nodes into a running container."""

lock = threading.Lock()

def __init__(
self,
*,
Expand Down Expand Up @@ -119,70 +121,71 @@ def _load_node(
:param request: service request to load a node
:param context: current launch context
"""
while not self.__rclpy_load_node_client.wait_for_service(timeout_sec=1.0):
if context.is_shutdown:
self.__logger.warning(
"Abandoning wait for the '{}' service, due to shutdown.".format(
self.__rclpy_load_node_client.srv_name
with LoadComposableNodes.lock:
while not self.__rclpy_load_node_client.wait_for_service(timeout_sec=1.0):
if context.is_shutdown:
self.__logger.warning(
"Abandoning wait for the '{}' service, due to shutdown.".format(
self.__rclpy_load_node_client.srv_name
)
)
)
return
return

# Asynchronously wait on service call so that we can periodically check for shutdown
event = threading.Event()
# Asynchronously wait on service call so that we can periodically check for shutdown
event = threading.Event()

def unblock(future):
nonlocal event
event.set()
def unblock(future):
nonlocal event
event.set()

self.__logger.debug(
"Calling the '{}' service with request '{}'".format(
self.__rclpy_load_node_client.srv_name, request
self.__logger.debug(
"Calling the '{}' service with request '{}'".format(
self.__rclpy_load_node_client.srv_name, request
)
)
)

response_future = self.__rclpy_load_node_client.call_async(request)
response_future.add_done_callback(unblock)
response_future = self.__rclpy_load_node_client.call_async(request)
response_future.add_done_callback(unblock)

while not event.wait(1.0):
if context.is_shutdown:
self.__logger.warning(
"Abandoning wait for the '{}' service response, due to shutdown.".format(
self.__rclpy_load_node_client.srv_name),
)
response_future.cancel()
return

# Get response
if response_future.exception() is not None:
raise response_future.exception()
response = response_future.result()

self.__logger.debug("Received response '{}'".format(response))

node_name = response.full_node_name if response.full_node_name else request.node_name
if response.success:
if node_name is not None:
add_node_name(context, node_name)
node_name_count = get_node_name_count(context, node_name)
if node_name_count > 1:
container_logger = launch.logging.get_logger(
self.__final_target_container_name
while not event.wait(1.0):
if context.is_shutdown:
self.__logger.warning(
"Abandoning wait for the '{}' service response, due to shutdown.".format(
self.__rclpy_load_node_client.srv_name),
)
container_logger.warning(
'there are now at least {} nodes with the name {} created within this '
'launch context'.format(node_name_count, node_name)
response_future.cancel()
return

# Get response
if response_future.exception() is not None:
raise response_future.exception()
response = response_future.result()

self.__logger.debug("Received response '{}'".format(response))

node_name = response.full_node_name if response.full_node_name else request.node_name
if response.success:
if node_name is not None:
add_node_name(context, node_name)
node_name_count = get_node_name_count(context, node_name)
if node_name_count > 1:
container_logger = launch.logging.get_logger(
self.__final_target_container_name
)
container_logger.warning(
'there are now at least {} nodes with the name {} created within this '
'launch context'.format(node_name_count, node_name)
)
self.__logger.info("Loaded node '{}' in container '{}'".format(
response.full_node_name, self.__final_target_container_name
))
else:
self.__logger.error(
"Failed to load node '{}' of type '{}' in container '{}': {}".format(
node_name, request.plugin_name, self.__final_target_container_name,
response.error_message
)
self.__logger.info("Loaded node '{}' in container '{}'".format(
response.full_node_name, self.__final_target_container_name
))
else:
self.__logger.error(
"Failed to load node '{}' of type '{}' in container '{}': {}".format(
node_name, request.plugin_name, self.__final_target_container_name,
response.error_message
)
)

def _load_in_sequence(
self,
Expand Down