[Transfered to geometry2] potential bugs perhaps casued by `transformReadyCallback` of `tf2_ros::MessageFilter` about navigation2 HOT 8 CLOSED

Not sure - I think you should compile with debug flags and get a backtrace so we can see specifically where it fails https://docs.nav2.org/tutorials/docs/get_backtrace.html

It does seem likely like a tf2_ros problem though.

from navigation2.

It's an interesting way ! thanks for your share, I'd try on it in my later work.

from navigation2.

It seems like somethings are being triggered after reset, so it would be good to know what is being called / triggered and thus see how to resolve it or if we made a mistake on not resetting everything required in the right order

from navigation2.

Any word here @GoesM ?

from navigation2.

I conducted several experiments and discovered that the callback function (transformReadyCallback()) of tf2_ros::Message_filter can continue to execute even after the Message_filter has been destroyed.

I believe this is an issue stemming from a flaw in the destruction mechanism of tf2_ros::Message_filter. Therefore, I have opened a new issue for the geometry2 stack: ros/geometry2#565.

from navigation2.

Got it, think you have a potential solution? I'm not sure I can get anyone to fix it for us, but if you have a patch, I can get someone to review it for us!

from navigation2.

Uh... I'm very glad to submit a PR to contribute. After all, this issue may occur frequently if users utilize dynamic parameters during navigation2 operations.

However, before submitting the PR, I think I need more time to find the most suitable fix, learning about the details of how the tf2_ros::Message_filter is designed to manage its own threads .

from navigation2.

OK. I'd want to transfer this conversation over there though so that this doesn't sit in Nav2's issue tracker since its not actionable to Nav2 as a bug with a dependency. The linking between these tickets I think does a fine job documenting it, but I'm going to go ahead and close this and we can follow up with future discussions in that ticket in geometry2 - I have notifications set to 'on'.

from navigation2.