actionlib goal cancel hangs [closed]
I am using actionlib in fuerte on ubuntu 12.04 to send goals between a planner/exec and an execution system.
I have noticed that on some goal.cancel() calls the node hangs. None of the under-the-hood messages are being published.
I was able to trace the problem to the following line:
boost::recursive_mutex::scoped_lock lock(gm_->list_mutex_);
in /opt/ros/fuerte/include/actionlib/client/client_goal_handle_imp.h (line 221).
In instances where the node hangs, it never acquires this lock.
Is this a known issue? With a solution/workaround?
For now I do not cancel any goals and instead deal with goal-to-goal transitions otherwise., but I would like to go back to how it seems like the interface should work.
I don't believe this is a known issue. Could you provide a stripped down version of your action client that still exhibits the issue? This will help people understand what other threads are running and what could be causing the race condition.