🐛 [BUG] - tree_node crashes when using a TopicSubscriber

[Oberacda]

Description

tree_node crashes when using a subscriber node.

Reproduction URL

https://github.com/fzi-forschungszentrum-informatik/ros2_ros_bt_py

Reproduction steps

1. Build a tree
2. Add a Subscriber Node
3. Start ticking the tree.
4. Shutdown the tree.

Logs

[INFO] [show_editor_url.py-5]: process has finished cleanly [pid 1452930]
[tree_node-1] [INFO] [1728307713.940090096] [BehaviorTreeNode]: initializing package manager...
[rosbridge_websocket-3] [INFO] [1728307714.051126150] [rosbridge_websocket]: Rosbridge WebSocket server started on port 9090
[tree_node-1] [INFO] [1728307714.106561446] [BehaviorTreeNode]: initialized package manager
[tree_node-1] [INFO] [1728307714.214997773] [BehaviorTreeNode]: initialized tree manager
[rosbridge_websocket-3] [INFO] [1728307716.681128584] [rosbridge_websocket]: Calling services in existing thread
[rosbridge_websocket-3] [INFO] [1728307716.682142302] [rosbridge_websocket]: Client connected. 1 clients total.
[rosbridge_websocket-3] [INFO] [1728307716.693264884] [rosbridge_websocket]: [Client 0cfcd506-6047-4ae9-af65-f352e8775ddc] Subscribed to tree
[rosbridge_websocket-3] [INFO] [1728307716.695065962] [rosbridge_websocket]: [Client 0cfcd506-6047-4ae9-af65-f352e8775ddc] Subscribed to debug/subtree_info
[rosbridge_websocket-3] [INFO] [1728307716.696378064] [rosbridge_websocket]: [Client 0cfcd506-6047-4ae9-af65-f352e8775ddc] Subscribed to messages
[rosbridge_websocket-3] [INFO] [1728307716.697456083] [rosbridge_websocket]: [Client 0cfcd506-6047-4ae9-af65-f352e8775ddc] Subscribed to packages
[rosbridge_websocket-3] [INFO] [1728307716.698312995] [rosbridge_websocket]: [Client 0cfcd506-6047-4ae9-af65-f352e8775ddc] Subscribed to /BehaviorTreeNode/tree
[rosbridge_websocket-3] [INFO] [1728307716.699506823] [rosbridge_websocket]: [Client 0cfcd506-6047-4ae9-af65-f352e8775ddc] Subscribed to /BehaviorTreeNode/debug/subtree_info
[rosbridge_websocket-3] [INFO] [1728307716.700521714] [rosbridge_websocket]: [Client 0cfcd506-6047-4ae9-af65-f352e8775ddc] Subscribed to /BehaviorTreeNode/messages
[rosbridge_websocket-3] [INFO] [1728307716.701596106] [rosbridge_websocket]: [Client 0cfcd506-6047-4ae9-af65-f352e8775ddc] Subscribed to /BehaviorTreeNode/packages
[tree_node-1] [INFO] [1728307724.518192814] [tree_manager.UNKNOWN TREE]: Successfully loaded tree
[tree_node-1] [INFO] [1728307737.433630638] [IOInputOption]: Not calling shutdown method, node has not been initialized yet
[tree_node-1] [INFO] [1728307737.434423198] [outputs]: {'out': [(<bound method NodeData.set of None (object) [#]>, 'GetAttr_2.inputs[object]'), (<bound method NodeData.set of None (object) [#]>, 'GetAttr_3.inputs[object]'), (<bound method NodeData.set of None (object) [#]>, 'GetAttr.inputs[object]')]}
[tree_node-1] [INFO] [1728307737.434855616] [outputs]: {'out': [(<bound method NodeData.set of None (object) [#]>, 'GetAttr_3.inputs[object]'), (<bound method NodeData.set of None (object) [#]>, 'GetAttr.inputs[object]')]}
[tree_node-1] [INFO] [1728307737.435186302] [outputs]: {'out': [(<bound method NodeData.set of None (object) [#]>, 'GetAttr.inputs[object]')]}
[tree_node-1] [ERROR] [1728307821.729720921] [tree_manager.UNKNOWN TREE]: Encountered error while ticking tree: rclpy.shutdown() has been called, Traceback (most recent call last):
[tree_node-1]   File "/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/python3.10/site-packages/ros_bt_py/tree_manager.py", line 516, in tick_report_exceptions
[tree_node-1]     self.tick()
[tree_node-1]   File "/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/python3.10/site-packages/ros_bt_py/tree_manager.py", line 626, in tick
[tree_node-1]     self.rate.sleep()
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/timer.py", line 145, in sleep
[tree_node-1]     self._postsleep()
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/timer.py", line 132, in _postsleep
[tree_node-1]     raise ROSInterruptException()
[tree_node-1] rclpy.exceptions.ROSInterruptException: rclpy.shutdown() has been called
[tree_node-1] 
[tree_node-1] Exception in thread Thread-1 (tick_report_exceptions):
[tree_node-1] Traceback (most recent call last):
[tree_node-1]   File "/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/python3.10/site-packages/ros_bt_py/tree_manager.py", line 516, in tick_report_exceptions
[tree_node-1]     self.tick()
[tree_node-1]   File "/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/python3.10/site-packages/ros_bt_py/tree_manager.py", line 626, in tick
[tree_node-1]     self.rate.sleep()
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/timer.py", line 145, in sleep
[tree_node-1]     self._postsleep()
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/timer.py", line 132, in _postsleep
[tree_node-1]     raise ROSInterruptException()
[tree_node-1] rclpy.exceptions.ROSInterruptException: rclpy.shutdown() has been called
[tree_node-1] 
[tree_node-1] During handling of the above exception, another exception occurred:
[tree_node-1] 
[tree_node-1] Traceback (most recent call last):
[tree_node-1]   File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner
[tree_node-1]     self.run()
[tree_node-1]   File "/usr/lib/python3.10/threading.py", line 953, in run
[tree_node-1]     self._target(*self._args, **self._kwargs)
[tree_node-1]   File "/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/python3.10/site-packages/ros_bt_py/tree_manager.py", line 527, in tick_report_exceptions
[tree_node-1]     self.publish_info(
[tree_node-1]   File "/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/python3.10/site-packages/ros_bt_py/tree_manager.py", line 484, in publish_info
[tree_node-1]     self.publish_tree(self.to_msg(ticked=ticked))
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/publisher.py", line 68, in publish
[tree_node-1]     with self.handle:
[tree_node-1] rclpy._rclpy_pybind11.InvalidHandle: cannot use Destroyable because destruction was requested
[tree_node-1] Traceback (most recent call last):
[tree_node-1]   File "/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/ros_bt_py/tree_node", line 33, in <module>
[tree_node-1]     sys.exit(load_entry_point('ros-bt-py==0.0.1', 'console_scripts', 'tree_node')())
[tree_node-1]   File "/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/python3.10/site-packages/ros_bt_py/tree_node.py", line 434, in main
[tree_node-1]     executor.spin()
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 294, in spin
[tree_node-1]     self.spin_once()
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
[tree_node-1]     self._spin_once_impl(timeout_sec)
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 736, in _spin_once_impl
[tree_node-1]     raise handler.exception()
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
[tree_node-1]     self._handler.send(None)
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 437, in handler
[tree_node-1]     await call_coroutine(entity, arg)
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 391, in _execute_service
[tree_node-1]     response = await await_or_execute(srv.callback, request, srv.srv_type.Response())
[tree_node-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
[tree_node-1]     return callback(*args)
[tree_node-1]   File "/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/python3.10/site-packages/ros_bt_py/tree_manager.py", line 1015, in control_execution
[tree_node-1]     raise BehaviorTreeException(
[tree_node-1] ros_bt_py.exceptions.BehaviorTreeException: Tried to join tick thread after requesting stop, but failed!
[ERROR] [tree_node-1]: process has died [pid 1452921, exit code 1, cmd '/home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py/lib/ros_bt_py/tree_node --ros-args -r __ns:=/ --params-file /tmp/launch_params_awg5jwuo --params-file /tmp/launch_params_bhcpb9_2 --params-file /tmp/launch_params_s163z3h9 --params-file /tmp/launch_params_i7jh50vg --params-file /tmp/launch_params_3pxylmgl --params-file /tmp/launch_params_hqzhj00k --params-file /tmp/launch_params_nojkm95c --params-file /tmp/launch_params_20apajvn --params-file /tmp/launch_params_047cuggg'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rosbridge_websocket-3] registered capabilities (classes):
[rosbridge_websocket-3]  - <class 'rosbridge_library.capabilities.call_service.CallService'>
[rosbridge_websocket-3]  - <class 'rosbridge_library.capabilities.advertise.Advertise'>
[rosbridge_websocket-3]  - <class 'rosbridge_library.capabilities.publish.Publish'>
[rosbridge_websocket-3]  - <class 'rosbridge_library.capabilities.subscribe.Subscribe'>
[rosbridge_websocket-3]  - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
[rosbridge_websocket-3]  - <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'>
[rosbridge_websocket-3]  - <class 'rosbridge_library.capabilities.service_response.ServiceResponse'>
[rosbridge_websocket-3]  - <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'>
[rosbridge_websocket-3] Exiting due to SIGINT
[ERROR] [html 8085-2]: process has died [pid 1452923, exit code -2, cmd 'python3 -m http.server -b 0.0.0.0 -d /home/roberto/repos/robot-programming-wih-python/ros2_ws/install/ros_bt_py_web_gui/share/ros_bt_py_web_gui/html 8085'].
[INFO] [rosapi_node-4]: process has finished cleanly [pid 1452927]
[INFO] [rosbridge_websocket-3]: process has finished cleanly [pid 1452925]

ROS2 Version

Humble

OS

Ubuntu 22.04