behavior_planning_container dies because of guard_condition

[beyzanurkaya]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Expected behavior

no crash

Actual behavior

behavior_planning_container dies

Steps to reproduce

Give goal position repeatedly

Versions

No response

Possible causes

No response

Additional context

No response

[beyzanurkaya]

@takayuki5168 #2684 is very similar to that one. do you have any idea what caused this?

[maxime-clem]

It could be related to autowarefoundation/autoware#4138
The "steps to reproduce" is similar (set a goal position again).

[takayuki5168]

@beyzanurkaya Sorry, I don't have any idea.

[beyzanurkaya]

ROS Issue: ros2/rclcpp#2163

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[beyzanurkaya]

@xiaoc88 I solved this problem by installing ROS2 from the source. This PR that tier4 opened for this issue solved the problem.

PR: Fix SharedFuture from async_send_request never becomes valid (#2044) … · tier4/rclcpp@0189b7c

FYI: @mitsudome-r @xmfcx

[idorobotics]

@xiaoc88 I solved this problem by installing ROS2 from the source. This PR that tier4 opened for this issue solved the problem.

@beyzanurkaya can this issue be closed?

[luojiaxiang11]

@maxime-clem @beyzanurkaya @takayuki5168 Hi,I also encountered the same problem. Has this issue been resolved? I found that using the command to publish in a loop easily reproduces this issue.

Command: ros2 topic pub --rate 1 /planning/mission_planning/goal geometry_msgs/msg/PoseStamped "{ header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, pose: {position: {x: -171.8, y: 78.1, z: -1.27}, orientation: {x: 0.0, y: 0.0, z: 0.62, w: 0.78}} }" commit: ab8bbf5

-DCMAKE_BUILD_TYPE=Release RMW_IMPLEMENTATION=rmw_cyclonedds_cpp Ros2: Humble

Hello，have you solved this problem? I have encountered this problem as well, but it only occurs occasionally without a specific trigger scenario. Installing ROS2 from the source does not solve my problem.

[maxime-clem]

@luojiaxiang11 are you using the custom rclcpp with this commit tier4/rclcpp@0189b7c ?

[luojiaxiang11]

@luojiaxiang11 are you using the custom rclcpp with this commit tier4/rclcpp@0189b7c ?

Yes,i using it.

[maxime-clem]

Please share the log file (found in ~/.ros/log/{DATE-TIME-...}/) showing the logs when the error happened.
If the error is the same let's reopen the issue.

[luojiaxiang11]

@maxime-clem
Errors are not exactly the same, but behavior_planning_container also died.Error message as shown in the figure.

The full log information as
launch.log

In addition, my Autoware is running in a Docker environment on the ARM architecture.

[maxime-clem]

Thank you for sharing the log. Unfortunately there is no information that could help identify the issue.
Which Autoware branch are you using ? If possible please open a new issue where you share details about your setup, and if possible a bag recording to try to reproduce the issue.

[luojiaxiang11]

Thank you for sharing the log. Unfortunately there is no information that could help identify the issue. Which Autoware branch are you using ? If possible please open a new issue where you share details about your setup, and if possible a bag recording to try to reproduce the issue.

Thank you for your suggestion ,and my branch is release/v1.0.

[DavideGiancola]

hi, I still have the same problem as described. I upgraded to the version in the main today 28/June. Checking the version of ROS installed automatically in the container (with option --devel) the proposed modification in commit tier4/rclcpp@0189b7c is already present the problem persists. I have additionally observed that in one particular condition it does not occur: if the first goal is a parking space, the second will be successful. On the next goal the problem occurs again.

[takayuki5168]

@DavideGiancola cc @kosuke55 @soblin
If you come across the issue again, please let us know how to reproduce the issue.