Fix issues when canceling and unadvertising actions

RobotWebTools / rosbridge_suite

Server Implementations of the rosbridge v2 Protocol

https://robotwebtools.github.io

BSD 3-Clause "New" or "Revised" License

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Fix issues when canceling and unadvertising actions #896

Closed sea-bass closed 6 months ago

sea-bass commented 7 months ago

I found a segfault in Humble described in https://github.com/ros2/rclcpp/issues/2163#issuecomment-1850925883 with destroying action servers while an executor is processing something.

For now, this simple change resolves the issue.

I also added a cancellation callback to the ROS 2 action servers that get created on advertise, which properly aborts the future that is created when first executing the goal.

sea-bass commented 6 months ago

Not destroying the action server feels sketchy, but hopefully we'll circle back to this once the bug in RCL is fixed.

Yeah, this is why I kept a comment with the segfault when normally I would have just deleted that line.