[noetic] Fix install and improve Python 3 support + python2.7 StringIO fix #97
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Signed-off-by: Mikael Arguedas <[email protected]>
Signed-off-by: Mikael Arguedas <[email protected]>
Signed-off-by: Mikael Arguedas <[email protected]>
Signed-off-by: Mikael Arguedas <[email protected]>
Signed-off-by: Mikael Arguedas <[email protected]>
Signed-off-by: Mikael Arguedas <[email protected]>
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Melodic build failed with Maybe it just didn't get enough CPU. @ros-pull-request-builder retest this please |
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Second build failed with |
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All tests pass for me on 16.04/kinetic BTW. |
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@ros-pull-request-builder retest this please |
Fixes the following errors reported by catkin_lint: capabilities: error: build_export_depend 'message_runtime' is not listed in catkin_package() capabilities: error: message dependency 'std_srvs' is not listed in catkin_package() capabilities: error: message dependency 'std_msgs' is not listed in catkin_package() capabilities: error: message dependency 'std_srvs' is not listed as build_export_depend capabilities: error: message dependency 'std_msgs' is not listed as build_export_depend
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The bionic tests keep failing with: and even though I increased the timeout to 30s. From the log times it looks like it is indeed waiting the 30s before failing: 13:26:55 �]2;/tmp/ws/src/capabilities/src/capabilities/capability_server_nodelet_manager.launch� 13:26:55 �[1mstarted roslaunch server http://cf9aa1763d55:34951/�[0m 13:26:55 13:26:55 SUMMARY 13:26:55 ======== 13:26:55 13:26:55 PARAMETERS 13:26:55 * /rosdistro: melodic 13:26:55 * /rosversion: 1.14.12 13:26:55 13:26:55 NODES 13:26:55 / 13:26:55 capability_server_nodelet_manager (nodelet/nodelet) 13:26:55 13:26:55 �[1mROS_MASTER_URI=http://cf9aa1763d55:38519/�[0m 13:26:55 �]2;/tmp/ws/src/capabilities/src/capabilities/capability_server_nodelet_manager.launch http://cf9aa1763d55:38519/� 13:26:55 �[1mprocess[capability_server_nodelet_manager-1]: started with pid [1275]�[0m 13:26:56 [DEBUG] [1643113645.793882]: connecting to cf9aa1763d55 44723 13:27:25 [capability_server_nodelet_manager-1] killing on exit 13:27:25 �[0m[ INFO] [1643113616.146610651]: Initializing nodelet with 4 worker threads.�[0m 13:27:26 shutting down processing monitor... 13:27:26 ... shutting down processing monitor complete 13:27:26 �[1mdone�[0m 13:27:26 [Testcase: testdefault_provider] ... ok 13:27:26 13:27:26 [ROSTEST]----------------------------------------------------------------------- 13:27:26 13:27:26 [capabilities.rosunit-default_provider/test_default_provider][FAILURE]---------- 13:27:26 File "/usr/lib/python2.7/unittest/case.py", line 329, in run 13:27:26 testMethod() 13:27:26 File "/tmp/ws/src/capabilities/test/rostest/test_server/test_default_provider.py", line 19, in test_default_provider 13:27:26 assert wait_for_capability_server(30) 13:27:26 -------------------------------------------------------------------------------- 13:27:26 13:27:26 13:27:26 SUMMARY 13:27:26 �[1;31m * RESULT: FAIL�[0m 13:27:26 * TESTS: 1 13:27:26 * ERRORS: 0 13:27:26 �[1;31m * FAILURES: 1�[0m @wjwwood any ideas? |
wjwwood
reviewed
Feb 1, 2022
src/capabilities/server.py
Outdated
| @@ -380,7 +380,7 @@ def spin(self): | |||
| self.handle_get_remappings) | |||
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| rospy.loginfo("Capability Server Ready") | |||
| rospy.Publisher("~events", CapabilityEvent, queue_size=1000).publish( | |||
| rospy.Publisher("~events", CapabilityEvent, queue_size=1000, latch=True).publish( | |||
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I'm not sure latching is the right solution here. The problem is that these events are meant to be ephemeral. Consider the situation where a subscription to the event is created long after the server started, it will always receive the last event even if it didn't happen recently. This might be the SEVER_READY event, which might be harmless, but it might also be some other event. The way the publishers work in rospy, is that it's a singleton, so if you set it latched here, I believe it will affect all other instances of this publisher for this topic.
I think a better solution would be to either periodically publish this event (or a "still alive" heart beat), or create a new service that can be called at anytime to see if the server is ready, and have the client call that in case it missed the event.
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Thanks for the feedback. I have only seen one publish call in this file so I thought this would be fine. Now I see the topic is also used in launch_manager.py.
I don't want to dig too deep here. I'll try the periodically publishing.
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@wjwwood I implemented the heartbeat (publishing SERVER_READY every 1s (configurable)) and tests pass. |
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Contains @mikaelarguedas fixes from #94 plus a few commits to add a python2.7 compatible way of using StringIO and make the bionic build pass.
Also fixes some package.xml/CMakeLists.txt errors that are reported by
catkin_lint.