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fix ObstacleLayer not working due to #2489 #3018

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gezp
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@gezp gezp commented Jun 15, 2022

Signed-off-by: zhenpeng ge zhenpeng.ge@qq.com


Basic Info

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Ticket(s) this addresses (add tickets here #3014)
Primary OS tested on (Ubuntu22.04)
Robotic platform tested on (gazebo simulation of turtlebot3)

Description of contribution in a few bullet points

Obstacle Layer not working (the scan data isn't subscribed by Obstacle Layer), becasue observation_subscribers_->subsciber() failed when ObstacleLayer::activate() is called since #2489

i'm not sure the side effect of this change, maybe we could have a better solution.

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Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
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mergify bot commented Jun 15, 2022

@gezp, please properly fill in PR template in the future. @SteveMacenski, use this instead.

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
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gezp commented Jun 15, 2022

CC @jwallace42

@SteveMacenski
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If callback groups aren't being respected, how does bypassing the unsubscribe help? Per rclcpp issue thread

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gezp commented Jun 18, 2022

If callback groups aren't being respected, how does bypassing the unsubscribe help? Per rclcpp issue thread

maybe I don't get your meaning,the problem is caused by subscribe(), not related to unsubscribe() .

@SteveMacenski
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ros2/rmw_fastrtps#619 supposedly fixes it and is merged!

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Humble binaries as of 18-Oct still have this issue. Switching to Cyclone seems to fix. Just commenting here for others that might be trying to track down issue

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3 participants