gz world: use gz-transport topic

Publish to the new /world_control gz-transport topic to avoid the issue with too many open files after running `gz world` repeatedly. Fixes #3341. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
gazebosim · Feb 23, 2024 · 9e0ce8a · 9e0ce8a
1 parent 299fdb2
commit 9e0ce8a
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Showing 4 changed files with 33 additions and 19 deletions.
diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt
@@ -37,5 +37,5 @@ if (NOT APPLE AND NOT WIN32)
   set(tool_tests
     gz_stress.cc
   )
-  gz_build_tests(${tool_tests} EXTRA_LIBS gazebo_transport)
+  gz_build_tests(${tool_tests} EXTRA_LIBS gazebo_transport ${IGNITION-TRANSPORT_LIBRARIES})
 endif()
diff --git a/test/performance/gz_stress.cc b/test/performance/gz_stress.cc
@@ -20,6 +20,7 @@
 #include <boost/algorithm/string/trim.hpp>
 #include <boost/thread/mutex.hpp>
 #include <boost/filesystem.hpp>
+#include <ignition/transport/Node.hh>
 
 #include <gazebo/common/CommonIface.hh>
 #include <gazebo/msgs/msgs.hh>
@@ -40,10 +41,10 @@ pid_t g_pid = -1;
 boost::condition_variable g_msgCondition;
 
 /////////////////////////////////////////////////
-void WorldControlCB(ConstWorldControlPtr &_msg)
+void WorldControlCB(const msgs::WorldControl &_msg)
 {
   boost::mutex::scoped_lock lock(g_mutex);
-  g_msgDebugOut = _msg->DebugString();
+  g_msgDebugOut = _msg.DebugString();
   g_msgCondition.notify_all();
 }
 
@@ -149,10 +150,8 @@ TEST_F(gzTest, Stress)
 {
   init();
 
-  gazebo::transport::NodePtr node(new gazebo::transport::Node());
-  node->Init();
-  gazebo::transport::SubscriberPtr sub =
-    node->Subscribe("~/world_control", &WorldControlCB, true);
+  ignition::transport::Node ignNode;
+  ignNode.Subscribe("/world_control", &WorldControlCB);
 
   // Run the transport loop: starts a new thread
   gazebo::transport::run();

diff --git a/tools/gz.cc b/tools/gz.cc
@@ -238,12 +238,25 @@ bool WorldCommand::RunImpl()
   if (this->vm.count("world-name"))
     worldName = this->vm["world-name"].as<std::string>();
 
-  transport::NodePtr node(new transport::Node());
-  node->Init(worldName);
+  ignition::transport::Node ignNode;
 
-  transport::PublisherPtr pub =
-    node->Advertise<msgs::WorldControl>("~/world_control");
-  pub->WaitForConnection();
+  const std::string topic{"/world_control"};
+  auto pub = ignNode.Advertise<msgs::WorldControl>(topic);
+
+  // Wait for subscribers
+  unsigned int maxSleep = 30;
+  unsigned int sleep = 0;
+  unsigned int mSleep = 100;
+  for (; sleep < maxSleep && !pub.HasConnections(); ++sleep)
+  {
+    common::Time::MSleep(mSleep);
+  }
+  if (sleep == maxSleep)
+  {
+    gzerr << "No subscribers to topic [" << topic <<"], timed out after " <<
+        maxSleep * mSleep << "ms." << std::endl;
+    return false;
+  }
 
   msgs::WorldControl msg;
   bool good = false;
@@ -285,9 +298,13 @@ bool WorldCommand::RunImpl()
   }
 
   if (good)
-    pub->Publish(msg, true);
+  {
+    pub.Publish(msg);
+  }
   else
+  {
     this->Help();
+  }
 
   return true;
 }

diff --git a/tools/gz_TEST.cc b/tools/gz_TEST.cc
@@ -190,10 +190,10 @@ void FactoryCB(ConstFactoryPtr &_msg)
 }
 
 /////////////////////////////////////////////////
-void WorldControlCB(ConstWorldControlPtr &_msg)
+void WorldControlCB(const msgs::WorldControl &_msg)
 {
   boost::mutex::scoped_lock lock(g_mutex);
-  g_msgDebugOut = _msg->DebugString();
+  g_msgDebugOut = _msg.DebugString();
   g_msgCondition.notify_all();
 }
 
@@ -503,10 +503,8 @@ TEST_F(gzTest, World)
   std::string helpOutput = custom_exec_str("gz help world");
   EXPECT_NE(helpOutput.find("gz world"), std::string::npos);
 
-  gazebo::transport::NodePtr node(new gazebo::transport::Node());
-  node->Init();
-  gazebo::transport::SubscriberPtr sub =
-    node->Subscribe("~/world_control", &WorldControlCB);
+  ignition::transport::Node ignNode;
+  ignNode.Subscribe("/world_control", &WorldControlCB);
 
   // Test world pause
   {