Execution rate becomes unstable when using component_container_mt #298
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@isamu-takagi thanks for posting issue. i confirmed that source build with ros2/ros2@0e6cc1c, the problem CANNOT be observed in mainline.
[component_container_mt-1] [INFO] [1617927524.587156965] [producer]: produce: 004, 0x7f3b70023140
[component_container_mt-1] [INFO] [1617927524.587316806] [consumer]: consume: 004, 0x7f3b70023140
[component_container_mt-1] [INFO] [1617927525.587494242] [producer]: produce: 005, 0x7f3b500011f0
[component_container_mt-1] [INFO] [1617927525.587620083] [consumer]: consume: 005, 0x7f3b500011f0
[component_container_mt-1] [INFO] [1617927526.586748026] [producer]: produce: 006, 0x7f3b50001120
[component_container_mt-1] [INFO] [1617927526.586872937] [consumer]: consume: 006, 0x7f3b50001120
[component_container_mt-1] [INFO] [1617927527.586752922] [producer]: produce: 007, 0x7f3b50001120
[component_container_mt-1] [INFO] [1617927527.586878123] [consumer]: consume: 007, 0x7f3b50001120
[component_container_mt-1] [INFO] [1617927528.587181825] [producer]: produce: 008, 0x7f3b50001120
[component_container_mt-1] [INFO] [1617927528.587379966] [consumer]: consume: 008, 0x7f3b50001120
[component_container-1] [INFO] [1617927535.959378536] [producer]: produce: 000, 0x55f5c7dc69d0
[component_container-1] [INFO] [1617927535.959552437] [consumer]: consume: 000, 0x55f5c7dc69d0
[component_container-1] [INFO] [1617927536.959364671] [producer]: produce: 001, 0x55f5c7dc69d0
[component_container-1] [INFO] [1617927536.959492992] [consumer]: consume: 001, 0x55f5c7dc69d0
[component_container-1] [INFO] [1617927537.958930075] [producer]: produce: 002, 0x55f5c7d9ca70
[component_container-1] [INFO] [1617927537.959062356] [consumer]: consume: 002, 0x55f5c7d9ca70
[component_container-1] [INFO] [1617927538.959381064] [producer]: produce: 003, 0x55f5c7d9ca70
[component_container-1] [INFO] [1617927538.959526865] [consumer]: consume: 003, 0x55f5c7d9ca70i believe that ros2/rclcpp#1516 can fix this problem, introducing gradual mutex locks gives some time window to take the executables.
there is a couple of warning for your test sample. /root/ros2_ws/colcon_ws/src/ros2/ros2_sandbox/src/intra_process/src/producer.cpp:20:33: warning: format ‘%p’ expects argument of type ‘void*’, but argument 6 has type ‘std::unique_ptr<std_msgs::msg::Int32_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int32_<std::allocator<void> > > >::pointer’ {aka ‘std_msgs::msg::Int32_<std::allocator<void> >*’} [-Wformat=]
20 | RCLCPP_INFO(get_logger(), "produce: %03d, %p", msg->data, msg.get());
| ^~~~~~~~~~~~~~~~~~~ ~~~~~~~~~
| |
| std::unique_ptr<std_msgs::msg::Int32_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int32_<std::allocator<void> > > >::pointer {aka std_msgs::msg::Int32_<std::allocator<void> >*}
/root/ros2_ws/colcon_ws/src/ros2/ros2_sandbox/src/intra_process/src/producer.cpp:20:50: note: format string is defined here
20 | RCLCPP_INFO(get_logger(), "produce: %03d, %p", msg->data, msg.get());
| ~^
| |
| void*the following patch can get rid of the warning. diff --git a/src/intra_process/src/consumer.cpp b/src/intra_process/src/consumer.cpp
index edfad97..930c01d 100644
--- a/src/intra_process/src/consumer.cpp
+++ b/src/intra_process/src/consumer.cpp
@@ -10,7 +10,7 @@ class ConsumerComponent : public rclcpp::Node
sub_ = create_subscription<std_msgs::msg::Int32>("intra_topic", 10,
[this](const std_msgs::msg::Int32::UniquePtr msg)
{
- RCLCPP_INFO(get_logger(), "consume: %03d, %p", msg->data, msg.get());
+ RCLCPP_INFO(get_logger(), "consume: %03d, %p", msg->data, (void *)msg.get());
}
);
}
diff --git a/src/intra_process/src/producer.cpp b/src/intra_process/src/producer.cpp
index 1dfcaf3..1a693b1 100644
--- a/src/intra_process/src/producer.cpp
+++ b/src/intra_process/src/producer.cpp
@@ -17,7 +17,7 @@ class ProducerComponent : public rclcpp::Node
{
std_msgs::msg::Int32::UniquePtr msg = std::make_unique<std_msgs::msg::Int32>();
msg->data = counter_++;
- RCLCPP_INFO(get_logger(), "produce: %03d, %p", msg->data, msg.get());
+ RCLCPP_INFO(get_logger(), "produce: %03d, %p", msg->data, (void *)msg.get());
pub_->publish(std::move(msg));
}
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@fujitatomoya Thank you for answering. I confirmed that it is executed every 1 second using ros2 source build. I'll close this issue. |
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Bug report
Required Info:
Steps to reproduce issue
cyclonedds setting
execute this command
clone test code and build
Note: This code is for testing intra-process communication, but it occurs even if
extra_arguments=[{"use_intra_process_comms": False}].launch
Expected behavior
Pub/sub logs are displayed at 1 second intervals like component_container_mt (with Fast RTPS) or component_container.
Actual behavior
The text was updated successfully, but these errors were encountered: