SteveMacenski
commented
3 days ago 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
Bug report
Required Info:
Steps to reproduce issue
Setup your workspace
Install dependencies
Add the following to `dep.repos`
```yml 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 ```Duplicate the action_client_interfaces package from the action_tutorials repo into your workspace.
Configure the
package.xmlfile of your package to depend on theaction_client_interfacespackage by adding the following line: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
```python 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() ```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
```python 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
Run the program
Send a request to the server
List nodes
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_teleopaction client is not destroyed, the node is not destroyed. This can be seen by runningros2 action listafter 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.