std::runtime_error what(): 'data' is empty with component container multithread #2423
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Can you please provide some example code that shows the problem? That would help a lot in debugging this. |
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It's difficult to provide a simple example since fuse is a quite articulated package and a lot of its subsytems are needed to reproduce. I can try to explain better: There is a main node, the optimizer, which during construction:
During plugins initialization, a new executor and callback group are created with the same context as the main node, and a new thread is started to let the executor spin. The process can be found here: https://github.com/giafranchini/fuse/blob/25b4b9ec4a36886a726f661818cbff4abeebb7d4/fuse_core/src/async_sensor_model.cpp#L59 |
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I setted up a minimal example in which I am able to reproduce the error. Please follow these steps:
This will run a simple example using bags already available in the package. container_fuse = ComposableNodeContainer(
name='container_fuse',
namespace='',
package='rclcpp_components',
executable='component_container_mt',
composable_node_descriptions=[
ComposableNode(
package='fuse_optimizers',
plugin='fuse_optimizers::FixedLagSmootherComponent',
name='state_estimator',
parameters=[PathJoinSubstitution([
pkg_dir, 'config', 'fuse_simple_tutorial.yaml'
])],
extra_arguments=[{'use_intra_process_comms': True}],
),
],
output='both',
) |
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@giafranchini could you also provide a backtrace for the error? |
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Sure, here it is: I also noticed that the error does not show up immediately every time I launch the container: sometimes the node is able to run for some small time before dying with the same error. |
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@giafranchini that's not a backtrace, but just the console log. |
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Sorry, here it is: |
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I'm seeing this also with Ubuntu 22.04, ROS Iron from ubuntu binaries, and the multi-threaded executor. @giafranchini, found a work-around other than not using the multi-threaded executor? I have my own thread publishing JointStates -- is that problematic? |
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@dsandber I found out that in my application there is a class which inherits from |
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My setup:
I am developing a state estimation application based on fuse package on my robot. I would like to have two separate callback groups, a dedicated one for a
rclpp::Timerhere, and the node default one for handling callbacks fromrclcpp::Subscriptions. In order for the two to work in parallel, I would like to use a multithreaded executor with num_threads = 2. However, when I launch my node inside acomponent_container_mtit shuts down with the following error:[component_container_mt-3] terminate called after throwing an instance of 'std::runtime_error' [component_container_mt-3] what(): 'data' is emptyI am running into this issue while deploying the package on my robot architecture, which is a VersaLogic Copperhead VL-EBX-41.
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