/assisted_teleop action client persists after node has been destroyed

[tiwaojo]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04 via Docker on Jetson Xavier NX
• ROS2 Version:
  • Humble Source via Docker Image
• Version or commit hash:
  • b25742ed05b0852b8c116b797b15e64f286f9780
• DDS implementation:
  • Cyclone DDS

Steps to reproduce issue

• Setup your workspace

  mkdir -p ros2_ws/src
  cd ros2_ws/src
  ros2 pkg create --build-type ament_python --license Apache-2.0 --node-name my_node my_package

• Install dependencies

  Add the following to `dep.repos`

  repositories:
  src/nav2_simple_commander:
      type: git
      url: https://github.com/SteveMacenski/navigation2-release.git
      version: release/humble/nav2_simple_commander
  src/nav2_common:
      type: git
      url: https://github.com/SteveMacenski/navigation2-release.git
      version: release/humble/nav2_common
  src/nav2_msgs:
      type: git
      url: https://github.com/SteveMacenski/navigation2-release.git
      version: release/humble/nav2_msgs

  touch src/dep.repos
  vcs import --skip-existing --input src/dep.repos
  pip3 install fastapi uvicorn

• Duplicate the action_client_interfaces package from the action_tutorials repo into your workspace.

• Configure the package.xml file of your package to depend on the action_client_interfaces package by adding the following line:

      <?xml version="1.0"?>
      ...
  +   <depend>violation_reporter_interfaces</depend>
      ...

• Create the action client node by adding the following code to /ros2_ws/src/my_package/my_package/my_node.py

  /ros2_ws/src/my_package/my_package/my_node.py

  from nav2_simple_commander.robot_navigator import BasicNavigator
  import rclpy
  from rclpy.action import ActionClient
  
  from action_tutorials_interfaces.action import Fibonacci
  
  class MinimalActionClient(BasicNavigator):
  
      def __init__(self):
          super().__init__('fibonacci_action_client')
          self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
  
      def send_goal(self, order):
          goal_msg = Fibonacci.Goal()
          goal_msg.order = order
  
          self._action_client.wait_for_server()
  
          return self._action_client.send_goal_async(goal_msg)
  
      def destroy_node(self):
          self._action_client.destroy()
          # self.assisted_teleop_client.destroy() # uncomment to fix. parent class(BasicNavigator) should be responsible for deleting this action client
          super().destroy_node()
  
  def main(args=None):
      rclpy.init(args=args)
  
      action_client = MinimalActionClient()
  
      future = action_client.send_goal(10)
  
      rclpy.spin_until_future_complete(action_client, future)
      
      action_client.destroy_node()
  
  
  if __name__ == '__main__':
      main()
    ```
  
  </details>

• Create your api by adding the following code to /ros2_ws/src/my_package/api/main.py

  /ros2_ws/src/my_package/api/main.py

  import uvicorn
  from fastapi import FastAPI, Request, Response
  from fastapi.middleware.cors import CORSMiddleware
  import rclpy
  from rclpy.executors import SingleThreadedExecutor
  from rclpy.task import Future
  from my_package.my_node import MinimalActionClient
  from contextlib import asynccontextmanager
  
  
  @asynccontextmanager
  async def lifespan(app: FastAPI):
      # Perform startup actions here
      print("Starting up...")
      print("Initializing ROS Context...")
      rclpy.init(args=None)
  
      yield
  
      # Perform cleanup actions here
      print("Tearing down...")
      print("Shutting down ROS Context...")
      rclpy.try_shutdown()
  
  
  app = FastAPI(
      lifespan=lifespan,
      responses={200: {"description": "Success"}, 404: {"description": "Not found"}},
  )
  
  origins = ["*"]
  
  app.add_middleware(
      CORSMiddleware,
      allow_origins=origins,
      allow_credentials=True,
      allow_methods=["*"],
      allow_headers=["*"],
  )
  
  
  @app.get(
      path="/",
      name="index",
      tags=["home"],
      summary="Home page",
  )
  async def index(request: Request, response: Response):
      return {"message": "Hello World"}
  
  
  @app.get(path="/example_endpoint")
  async def example_endpoint(request: Request, response: Response):
      executor = SingleThreadedExecutor()
      action_client_node = MinimalActionClient()
      try:
          if rclpy.ok():
              # future: Future = action_client_node.send_goal(order=10)
  
              action_client_node.get_logger().info("Goal sent. Waiting for result...")
              # rclpy.spin_until_future_complete(action_client_node,future=future)
              executor.add_node(action_client_node)
              # executor.spin_once_until_future_complete(future=future,timeout_sec=20)
  
      except Exception as e:
          action_client_node.get_logger().error(f"An error occurred: {e}")
      finally:
          action_client_node.get_logger().info("Destroying client node")
          action_client_node.destroy_node()
          executor.remove_node(action_client_node)
          executor.shutdown()
  
  
  def main(args=None):
      try:
          uvicorn.run(
              app=app,
              host="127.0.0.1",
              port=8000,
          )
      except KeyboardInterrupt:
          print("Shutting down server...")
  
  
  if __name__ == "__main__":
      main()

• Build the workspace

  colcon build --symlink-install

• Run the program

  source install/setup.bash
  python3 src/my_package/api/main.py
  # or 
  uvicorn src.my_package.api.main:app

• Send a request to the server

  curl http://127.0.0.1:8000/example_endpoint

• List nodes

  ros2 node list

Expected behavior

All nodes, actions and callbacks should be destroyed when the request is completed.

Actual behavior

The action client node is not destroyed when the server is shut down. As the /assisted_teleop action client is not destroyed, the node is not destroyed. This can be seen by running ros2 action list after the request has been served. Any further calls to the same endpoint recreates the action client node and the action client, hereby creating duplicate nodes and actions.

[SteveMacenski]

Ask on robotics stack exchange, I'm not sure what this has to do with Nav2 other than using a Nav2 action server as the example. It looks like you're doing some unusual things and I'm not sure what you're expecting the behavior to look like. I don't see why the action server would come down just because you remove a client to it.

If your client isn't being properly distroyed, that has nothing to do with Nav2 since that is your provided software - not something in Nav2. If you need help with properly destroying your own nodes, you should reference the ROS 2 docs and Robotics Stack Exchange.

[tiwaojo]

Hello, my apologies if my issue seems out of scope of Nav2 or wasn't communicated properly. I was able to determine the source of the error and was preparing a pull request for it, as a PR requires an issue attached. It was a minor bug with the assisted_teleop_client action client where it wasn't destroyed with the rest of the node.

navigation2/nav2_simple_commander/nav2_simple_commander/robot_navigator.py

Lines 97 to 107 in f79de33

	def destroy_node(self):
	self.nav_through_poses_client.destroy()
	self.nav_to_pose_client.destroy()
	self.follow_waypoints_client.destroy()
	self.follow_path_client.destroy()
	self.compute_path_to_pose_client.destroy()
	self.compute_path_through_poses_client.destroy()
	self.smoother_client.destroy()
	self.spin_client.destroy()
	self.backup_client.destroy()
	super().destroy_node()

[SteveMacenski]

Ah I see, sorry that was unclear. Please open the PR! I thought you were referring to issues wrt your own assisted teleop client not being destroyed when your node was completed.

[tiwaojo]

I see what you mean. I apologize for the confusion. I have opened the PR. I also noticed there were some other action clients not being destroyed with the node. I took the liberty to include those in the pull request.

[SteveMacenski]

Great, thanks for the contribution and pointing this out!