actionlib::SimpleActionClient＜ ActionSpec ＞::SimpleActionClient() spin_thread = true crashes node

最新推荐文章于 2024-11-01 16:23:49 发布

风fly

最新推荐文章于 2024-11-01 16:23:49 发布

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分类专栏： ROS 嵌入式文章标签：开发语言 c++

本文链接：https://blog.youkuaiyun.com/devliuweifeng/article/details/127190270

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当使用actionlib::SimpleActionClient< ActionSpec >::SimpleActionClient构造函数并设置spin_thread为默认的true时，可能导致节点崩溃。通过启用ROS核心转储，发现更详细的调用堆栈。解决方法是将spin_thread参数从true改为false，避免崩溃问题。

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actionlib::SimpleActionClient< ActionSpec >::SimpleActionClient   (   ros::NodeHandle &    n,
const std::string &    name,
bool    spin_thread = true
)

By default the spin_thread = true in the SimpleActionClient ROS node application, but this might cause the crashes as below:

terminate called after throwing an instance of 'boost::wrapexceptboost::lock_error'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[test_orchestrator_node-3] process has died [pid 28245, exit code -6, cmd /home/tester/Documents/flight_ws/src/flight-test-panel/_build/devel/lib/flight_test_panel/test_orchestrator_node __name:=test_orchestrator_node __log:=/home/tester/.ros/log/d3b2e647-3ec5-11ed-986a-48b02d3d8078/test_orchestrator_node-3.log].
log file: /home/tester/.ros/log/d3b2e647-3ec5-11ed-986a-48b02d3d8078/test_orchestrator_node-3*.log

After enable the ROS core dump (