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Raise std::future_error: Promise already satisfied #141

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vinnamkim opened this issue Jul 31, 2019 · 5 comments · Fixed by #143
Closed

Raise std::future_error: Promise already satisfied #141

vinnamkim opened this issue Jul 31, 2019 · 5 comments · Fixed by #143
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@jacobperron
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@vinnamkim
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Bug report

Required Info:

  • Operating System:
    Ubuntu 18.04
  • Installation type:
    source
  • Version or commit hash:
    e29db0a
  • DDS implementation:
    Fast-RTPS
  • Client library (if applicable):
    rclcpp, nav2_amcl

Steps to reproduce issue

Launching nav2_bringup's nav2_simulation_launch.py and waiting some minutes.

Expected behavior

Nothing happen

Actual behavior

Exception(what(): std::future_error: Promise already satisfied) is raised at the following code.

geometry2/tf2_ros/src/buffer.cpp

Line 256 in e29db0a

promise->set_exception(

Additional information

It seems Buffer::timerCallback is called

geometry2/tf2_ros/src/buffer.cpp

Line 256 in e29db0a

promise->set_exception(

after cb_handle is called.

geometry2/tf2_ros/src/buffer.cpp

Line 205 in e29db0a

auto cb_handle = addTransformableCallback([&, promise, callback, future](

@vinnamkim
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Related to ros-navigation/navigation2#967

@mkhansenbot
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@jacobperron @tfoote - can someone prioritize looking into this, it is causing failures in navigation2 about 50-60% of the time

@jacobperron jacobperron self-assigned this Aug 5, 2019
@jacobperron jacobperron added the bug Something isn't working label Aug 5, 2019
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I also ran into this myself. Working on a fix now.

jacobperron added a commit that referenced this issue Aug 6, 2019
@jacobperron
Fix race between timeout and transform ready callback
5b3cffa 
The timer-request handle map is used to check if the promise to the user has already been set.
For the transformable request callback, we loop over the values of the map to check if the request is still valid.
Alternatively, we could implement a bi-directional map for efficiency, but I don't expect the number of entries in
the timer-request map to be large so it seems like a pre-mature optimization.

Fixes #141

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron jacobperron mentioned this issue Aug 6, 2019
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This bug was introduced in #121.
Fixed in #143.

@jacobperron
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@vinnamkim @mkhansen-intel Can someone confirm that applying #143 resolves the issue for you?

jacobperron added a commit that referenced this issue Aug 6, 2019
@jacobperron
Fix race between timeout and transform ready callback (#143)
4146027 
* Add test for race in tf2_ros::Buffer

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix race between timeout and transform ready callback

The timer-request handle map is used to check if the promise to the user has already been set.
For the transformable request callback, we loop over the values of the map to check if the request is still valid.
Alternatively, we could implement a bi-directional map for efficiency, but I don't expect the number of entries in
the timer-request map to be large so it seems like a pre-mature optimization.

Fixes #141

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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Fix race between timeout and transform ready callback ros2/geometry2
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@jacobperron @mkhansenbot @vinnamkim