My ROS2 minimal examples, difficulties coming from ROS1

iuhilnehc-ynos · February 3, 2021, 8:42am

I am afraid it’s not a bug. It’s just a design for ROS2 node there, and the thrown error message told us the reason.

ros2/rclcpp/blob/7c984f1a4c33f214d1ffd498dbacb64a94aaa39d/rclcpp/src/rclcpp/executor.cpp#L263


      
              weak_groups_associated_with_executor_to_nodes_,
              notify);
          }
          
          void
          Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
          {
            // If the node already has an executor
            std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
            if (has_executor.exchange(true)) {
              throw std::runtime_error("Node has already been added to an executor.");
            }
            std::lock_guard<std::mutex> guard{mutex_};
            for (auto & weak_group : node_ptr->get_callback_groups()) {
              auto group_ptr = weak_group.lock();
              if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
                group_ptr->automatically_add_to_executor_with_node())
              {
                this->add_callback_group_to_map(
                  group_ptr,
                  node_ptr,

Why don’t we use another node for creating the service client if we want to use spin_until_future_complete inside a node’s callback?

Please refer to somebody source code,

github.com

zygfrydw/ros2_service_issue/blob/82362ace453c53056908bcd00a5a86201f1749fa/srv_client/src/srv_client.cpp#L25-L28


      
          service_node_ = std::make_shared<rclcpp::Node>("service_node", create_options());
          client_ = service_node_->create_client<service_msg::srv::MyService>("/my_service");
          
          timer_ = this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&SrvClient::timer_callback, this));

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My ROS2 minimal examples, difficulties coming from ROS1

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