[manager 4.0] error gazebo stats

[Carlosalpha1]

Hi, I have a problem with manager-4.0.py of foxy branch.
When I launch my new exercise Follow Person the web-template crashes showing Connecting 2... indefinitely.

But, if I comment these lines, the exercise and VNC (with gazebo and terminal) work well.

I have tried to find the threads running using pstree command:

Any idea what may be happening? I think the problem is that the exercise needs a lot of Gazebo resources and using gz stats blocks the launch

Cheers!

[akshaynarisetti]

Hi @Carlosalpha1 Did you try running that code in an individual thread?

[Tejal-19]

Yes, I think as it is running a subprocess, it is running multiple secondary processes. I think running an individual thread can be an option.

[jmplaza]

Manager-4.0.py was a nice prototype exploring ROS2 Foxy, but the new manager (=RAM, Robotics Application Manager) should be checked to know whether or not this error reporting Gazebo stats keeps bothering or not. That RAM will be used for ROS1-Noetic and for ROS2- Humble RADIs in the long run. Regarding ROS1-Noetic it is included in RADI-3.3.1 and available for the FollowLine exercise and the BasicVacuumCleaner exercise.

[jmplaza]

AFAIK the new manager, named RAM, is working fine in RADI 4.3.X and properly receiving the gazebo stats (such as Real Time Factor, RTF), which uses ROS2 Humble as reference.

@Blancasr is this right?. In such case we could close this issue as solved.

[jmplaza]

Confirmed, it is working fine in ROS2 Humble RADI.