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ros::Timer leads to boost::lock_error at process cleanup

asked 2014-03-24 04:27:37 -0600

Blizzard gravatar image

updated 2016-10-24 09:00:50 -0600

ngrennan gravatar image

Hello again,

in my Program i use different classes with inheritance. Everything works fine until i end the process (Ctrl C). Then it throws the following error:

terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost::lock_error

The class structure is organized as follows:

|---------------------------------------------------------|
| AdditionalObject                                        |
|---------------------------------------------------------|



|---------------------------------------------------------|
| BaseObject                                              |
|---------------------------------------------------------|
| boost::shared_ptr<AdditionalObject> m_additional_object |
|---------------------------------------------------------|
                             A
                             |
                             |
|---------------------------------------------------------|
| Object                                                  |
|---------------------------------------------------------|

I created a minimal example that reproduces that error:

#include <ros/ros.h>

// ***************************** class AdditionalObject *****************************
class AdditionalObject
{
public:
  AdditionalObject();

private:
  void timerCallback(const ros::TimerEvent& event);
  ros::NodeHandlePtr m_n;
  ros::Timer  m_timer;
};

AdditionalObject::AdditionalObject()
{
  m_n = boost::shared_ptr<ros::NodeHandle>(new ros::NodeHandle());
  m_timer = m_n->createTimer(ros::Duration(1), &AdditionalObject::timerCallback, this);
}

void AdditionalObject::timerCallback(const ros::TimerEvent &event)
{
  std::cout << "beep" << std::endl;
}

// ******************************* class BaseObject *******************************
class BaseObject
{
public:
  BaseObject(boost::shared_ptr<AdditionalObject> additional_object);

private:
  boost::shared_ptr<AdditionalObject> m_additional_object;
};

BaseObject::BaseObject(boost::shared_ptr<AdditionalObject> additional_object) : m_additional_object(additional_object) { }

// ********************************** class Object **********************************
class Object : public BaseObject
{
public:
  Object(boost::shared_ptr<AdditionalObject> additional_object);
};

Object::Object(boost::shared_ptr<AdditionalObject> additional_object) : BaseObject(additional_object) { }

// **********************************************************************************

// public variables
boost::shared_ptr<Object> object;
boost::shared_ptr<AdditionalObject> additional_object;

int main(int argc, char **argv)
{
  ros::init(argc, argv, "minimal_example");
  ros::NodeHandle n;

  additional_object = boost::shared_ptr<AdditionalObject>(new AdditionalObject());
  object = boost::shared_ptr<Object>(new Object(additional_object));

  ros::spin();
  return 0;
}

I'm using ROS Hydro on Kubuntu 12.04. Any help would be appreciated.

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1 Answer

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answered 2014-03-24 05:49:06 -0600

Wolf gravatar image

updated 2014-03-24 05:51:55 -0600

I am not sure why, but if you put

  additional_object.reset();
  object.reset();

after your ros::spin() the error goes away. Probably you have to unbind before nodehandle and everything goes out of scope. Making your shared_ptrs local objects also works. I think I'd put them in a class of which the instance goes out of scope before the end of main....

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Well, learning never stops. Thank you for your help.

Blizzard gravatar imageBlizzard ( 2014-03-24 06:56:27 -0600 )edit

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Asked: 2014-03-24 04:27:37 -0600

Seen: 927 times

Last updated: Mar 24 '14