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open-rmf / rmf_ros2

Internal ROS infrastructure for RMF
Apache License 2.0
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help ：Sending msg in event causes process has died #256

Closed liugehaizaixue closed 1 year ago

liugehaizaixue commented 1 year ago

Hello, I was looking at the task system recently. I have customized an event to implement the process of sending requests to robots and returning status and results, similar to 'DispenseItem'. But 'DispenseItem' is a phase, which I implement in Active following its writing method init obs(). The implementation code is shown in the first figure. I use custom rmf_waitformessage_msgs replaced the original rmf_dispenser_msg. The compilation is successful, but when I send the compose task to call this' event ',' process has died 'appears. I would like to ask you where the mistake occurred.Thank you! image 20230104205906

mxgrey commented 1 year ago

I can't necessarily know what's causing the crash without debugging it myself.

To debug this type of crash I recommend these steps:

That being said, I'm most suspicious of node, specifically the way it's being captured by reference in the lambda. The lambda will outlive the reference and that reference will get triggered after the reference has died. You should instead capture node by copy, which means deleting the & in the capture list.

mxgrey commented 1 year ago

Since this isn't a bug in RMF or a feature request, I'll be closing this issue. If you want to discuss the matter further I recommend opening a discussion.