QoS_demo_cpp: Process hung on [INFO] [rclcpp]: signal_handler(signal_value=2)

[claireyywang]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Installation type:
  • Source
• Version or commit hash:
  • Eloquent
• DDS implementation:
  • Connext
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run quality_of_service_demo_cpp interactive_publisher --delay 0.5 --deadline 1 --liveliness MANUAL_BY_TOPIC --lease 1
RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run quality_of_service_demo_cpp interactive_subscriber --deadline 1 --liveliness MANUAL_BY_TOPIC --lease 1

Expected behavior

print

^C[INFO] [rclcpp]: signal_handler(signal_value=2)

then exit the process

Actual behavior

[INFO] [rclcpp]: signal_handler(signal_value=2)
[INFO] [rclcpp]: signal_handler(signal_value=2)
[INFO] [rclcpp]: signal_handler(signal_value=2)
[INFO] [rclcpp]: signal_handler(signal_value=2)

never exit.

[clalancette]

Out of curiousity, how long did you wait? We have a known issue somewhere where Connext can take a substantial amount of time to cleanup after itself (like 10 seconds or something). I'm wondering if this is a duplicate.

[claireyywang]

Out of curiousity, how long did you wait? We have a known issue somewhere where Connext can take a substantial amount of time to cleanup after itself (like 10 seconds or something). I'm wondering if this is a duplicate.

I tried again, waited for at least five minutes and got the same result. I had to close the terminal to kill it.

[clalancette]

I tried again, waited for at least five minutes and got the same result. I had to close the terminal to kill it.

Sounds like something new :+1:

[hidmic]

I came across the same thing. @claireyywang try pressing x...

The thing is that these demos spin up a separate thread to support stdin-based user interaction. Because of the way that bit is coded, you have to either Ctrl-C or press x (to stop the executor) and then press another random key to get yourself out of a blocking getch*() call.

I fiddled a bit on how to fix it but being cross-platform is going to be time consuming. I'll come back later.

[wjwwood]

@claireyywang can you push on this issue. @hidmic says the code may need to be refactored to close when doing ctrl-c. We can either backlog this or fix it. Thanks!

[claireyywang]

@wjwwood sure I'll look into it

[clalancette]

Since we don't support rmw_connext_cpp anymore, I'm going to go ahead and close this out.