Synchronize Spot leasing #298
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mhidalgo-bdai
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Mar 7, 2024
| @@ -220,7 +218,7 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw | |||
| self.callbacks["lease"] = self.lease_callback | |||
| self.callbacks["world_objects"] = self.world_objects_callback | |||
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| self.group: CallbackGroup = ReentrantCallbackGroup() | |||
| self.group: CallbackGroup = MutuallyExclusiveCallbackGroup() | |||
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I have not thoroughly analyzed the implications of this change yet. If this is too conservative, we may have to synchronize closer to SpotWrapper call sites.
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Circling back to this. I experienced some hangs during testing, which went away after applying 7be4791, which removes callbacks that need not share a callback group from the main, now mutually exclusive, callback group.
Pull Request Test Coverage Report for Build 8190131069Details
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Signed-off-by: Michel Hidalgo <[email protected]>
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Signed-off-by: Michel Hidalgo <[email protected]>
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Signed-off-by: Michel Hidalgo <[email protected]>
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@amessing-bdai PTAL |
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Mar 22, 2024
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Signed-off-by: Michel Hidalgo <[email protected]>
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Change Overview
SpotWrapperis not thread-safe, and thus reentrant ROS 2 callbacks risk resource contention. This patch synchronizesSpotWrapperuse in general, and lease management in particular, by making all ROS 2 callbacks mutually exclusive.It also makes use of bdaiinstitute/spot_wrapper#92 to avoid reaching out to
SpotWrapperinternals.Testing Done
In addition to green CI, I manually ran multiple examples on a real Spot (those in this repository and others in downstream repositories as well).