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Published 20 hours ago • verified publisher icon fzi-forschungszentrum-informatik

🐛 [BUG] - Cannot use Destroyable because destruction was requested

Open Oberacda opened this issue 10 months ago • 2 comments

Description

BT crashes when loading or stopping a BT with a Service, Action or Subscriber node with the error message "cannot use Destroyable because destruction was requested", due to some issues with the underlying rclpy implementation.

Reproduction URL

https://github.com/fzi-forschungszentrum-informatik/ros2_ros_bt_py

Reproduction steps

1. Load a BT containing a TopicSubscriber.
2. Run the BT.
3. Stop the BT.

Screenshots

No response

Logs

No response

ROS2 Version

Humble

OS

Ubuntu 22.04

Oberacda avatar Mar 27 '24 14:03 Oberacda

https://github.com/ros2/rclpy/issues/1142

https://github.com/ros2/rclpy/issues/1206

nspielbau avatar Aug 08 '24 09:08 nspielbau

Seems to be "fixed" with checking rclpy.ok() before publishing tree info. But this is not a viable solution. Also rclpy should be okay while shutting down the BT

nspielbau avatar Aug 08 '24 09:08 nspielbau