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robotinterface: Close as soon as one external device is closing #619

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merged 1 commit into from
Apr 4, 2022
Merged

robotinterface: Close as soon as one external device is closing #619

merged 1 commit into from
Apr 4, 2022

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traversaro
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@traversaro traversaro commented Mar 31, 2022 •
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This PR implements the idea described in #582 (comment) .

This fixes #582 .

This requires #618 to be merged before, to preview just the content of this PR before that PR is merged, check the commit 4d5ff7e .

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Testing on an internal model (stickBot) that was affected by this problem, with this modification we switched from the model crashing to hanging with this output:

[INFO] interrupt1 phase starting...
[INFO] interrupt1 phase finished.
[INFO] shutdown phase starting...
[INFO] Entering action level 2 of phase shutdown
[INFO] Executing detach action, level 2 on device wholebodydynamics with parameters []

I need to investigate more, but I suspect this is actually some problem of the YARP devices launched, not of the gazebo_yarp_robotinterface plugin or this modifications.

@traversaro traversaro requested review from Nicogene and randaz81 March 31, 2022 19:01
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Testing on an internal model (stickBot) that was affected by this problem, with this modification we switched from the model crashing to hanging with this output:

[INFO] interrupt1 phase starting...
[INFO] interrupt1 phase finished.
[INFO] shutdown phase starting...
[INFO] Entering action level 2 of phase shutdown
[INFO] Executing detach action, level 2 on device wholebodydynamics with parameters []

I need to investigate more, but I suspect this is actually some problem of the YARP devices launched, not of the gazebo_yarp_robotinterface plugin or this modifications.

Indeed, this was due to some bugs in #618 and in wholebodydynamics, once that has been fixed it was possible to respawn easily models that used gazebo_yarp_robotinterface:

stickbot_remove.mp4

@traversaro traversaro force-pushed the fix582 branch 2 times, most recently from 37ca37f to 4d5ff7e Compare April 2, 2022 17:40
@traversaro traversaro mentioned this pull request Apr 3, 2022
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Nicogene
Nicogene reviewed Apr 4, 2022
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Thanks @Nicogene for the review. Now the history of the PR is clean.

@traversaro traversaro merged commit 992c1ab into master Apr 4, 2022
@traversaro traversaro deleted the fix582 branch April 4, 2022 14:39
This was referenced Aug 12, 2024
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@Nicogene Nicogene Nicogene approved these changes

@GrmanRodriguez GrmanRodriguez Awaiting requested review from GrmanRodriguez

@ste93 ste93 Awaiting requested review from ste93

@randaz81 randaz81 Awaiting requested review from randaz81

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Successfully merging this pull request may close these issues.

A gazebo model which uses yarprobotinterface plugin crashes when the model is removed
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@traversaro @Nicogene