Open SteveMacenski opened 8 months ago
The error unknown goal response, ignoring... is relatively new, introduced in #2132. CC @fujitatomoya
https://github.com/ros2/rclcpp/pull/2132 is merged in before Iron
release, so this has been a while up to now. besides, this unknown result response, ignoring...
error message is already there before https://github.com/ros2/rclcpp/pull/2132
right now, i do not have bandwidth to check this issue, but i will take a look once i have time.
Bug report
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Steps to reproduce issue
In ROS 2 Rolling, Iron, the Action Clients are failing in bizarre ways in unit tests.
(1) Nav2's nightly is failing non-determinstically with Fast-DDS on this test: https://github.com/ros-planning/navigation2/blob/main/nav2_util/test/test_actions.cpp#L324-L380 with a crash resulting in the job timeout. This is a pretty rudimentary test as part of Nav2's sentinel testing of regressions of
rclcpp_action
. This has started to become flaky in the last few weeks that I've noticed.(2) Additionally, both Rolling and Iron are failing deterministically on a few unit tests in Open Navigation's new Nav2 Task Server for complete coverage planning. In these I see two distinct failures:
The error
unknown goal response, ignoring...
is relatively new, introduced in https://github.com/ros2/rclcpp/pull/2132. CC @fujitatomoyaNote at this bug does not seem to occur in Humble, but does in Rolling and Iron. That can be clearly shown looking at the CI for that repository for the
main
branch running Iron andhumble
on Humble https://github.com/open-navigation/opennav_coverage with extremely simplistic test:(3) The last error is
Whereas the exception is thrown while destructing the test, since it passed the test. Note that I do not have these tests setup for Humble to know if this is an issue, but I do use the same boilerplate that this uses in Nav2's main CI on other BT nodes so I'm confident its not an issue.
These point to one (or more?) regressions in the Action Client in recent month(s) which is concerning to me since Nav2's entire internal stack is extremely reliant on them for every manner of operation.