ros
Race condition: Goal state is SUCCEEDED before result is available.
SimpleActionClient seems to have a race condition. Calling get_state() can give the SUCCEEDED state before a result is available.
This is a package showing the problem. It uses a SimpleActionClient to make a request and then checks client.get_state() at a high frequency to check for SUCCEEDED state and then checks if client.get_result() returns a result. An error is printed if the result is missing. It makes a maximum of 1000 requests to try to trigger this error. Run roslaunch action_client_breaker action_client_breaker.test and wait for a ERROR message in the console.
action_client_breaker.zip
BufferClient in tf2_ros was previously affected by this issue. See ros/geometry2#178.
Hi @jorgenfb
I also faced this issue when i am calling client.get_state() at around 5Hz. Have you find a solution / workaround for this?
Best, Samuel
Yes, have a look at https://github.com/ros/geometry2/issues/178. Especially this comment: https://github.com/ros/geometry2/issues/178#issuecomment-431801344. You might be able to use:
your_simple_action_client.wait_for_result()
Isn't the client.wait_for_result() will put whole system on wait? until result come out?
Just your current thread. If you are only spinning until a result is ready, then you can use wait_for_result without any issue Regards Jørgen Borgesen nLink +47 456 19 649
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On Wed, Oct 27, 2021 at 10:13 AM HappySamuel @.***> wrote:
Isn't the client.wait_for_result() will put whole system on wait? until result come out?
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