ros-controls / ros-controls/ros2_controllers
[JTC] Deactivating controller while action is executed: invalid transition
Open
Nobody has claimed this yet.
bug
persistent
stale
- Dominant language
- C++
- Stars
- 834
- Forks
- 530
- Avg merge
- 18h 3m
- Merged PRs (30d)
- 19
Description
Describe the bug
Deactivating the controller while a an action is executed gives a warning with realtime_tools:
[ros2_control_node-6] [WARN] [1707917083.196860704] [realtime_tools]: goal_handle attempted invalid transition from state EXECUTING with event CANCELED, at /opt/ros2_ws/src/ros2/rcl/rcl_action/src/rcl_action/goal_handle.c:95
Environment (please complete the following information):
- OS: debian
- Version humble
- source build
Additional context
This was introduced with #962
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Reproduce the warning by deactivating the controller while an action is executing in the Debian Humble source-build environment. Review the change introduced by #962 together with the realtime_tools and rcl_action transition context; done means this controller shutdown scenario no longer attempts the invalid CANCELED transition.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 30/100