[ROS2-Crystal] rclcpp::executors Interrupt guard condition

edit

Hi,

After upgrading to ROS2 crystal clemmys, I am receiving a error message:

Failed to create interrupt guard condition in Executor constructor

The same code was used in ROS bouncy but for some reason I am receiving the above mentioned error on Crystal.

The source of the issue is caused when assigning the executor rclcpp::executors::SingleThreadedExecutor executor;.

I am currently trying to pass arguments on assignment to avoid this error message. Was there any changes to how the executors should be called on crystal?

Update:

I tried to reproduce the error message using a simple example using a pure ROS package. I received a different error message this time but, I believe it something to do with the original issue I am facing.

#include <iostream>
#include "rclcpp/executor.hpp"
#include "std_msgs/msg/string.hpp"
#include "rclcpp/rclcpp.hpp"


    std::shared_ptr<rclcpp::Node> master_node;


        void static topic_callback(std_msgs::msg::String::SharedPtr msg)
      {
        std::cout  <<" Subscriber Received [" << msg->data << "]" << std::endl;
      }


    int main(){
    rclcpp::init(0, nullptr);

    rclcpp::executors::MultiThreadedExecutor executor;
    master_node = rclcpp::Node::make_shared("MasterNode");
    auto subscription_ = master_node->create_subscription<std_msgs::msg::String>("TopicName",topic_callback);

    executor.add_node(master_node);


    executor.spin_node_some(master_node);

    }

Just to give a little background on what I am trying to do. Script A is the main code. I will initialize ROS and create a node in script B.

The std::shared_ptr<rclcpp::Node> master_node; is being saved in a Header file of script B which will be used as a global variable.

Other scrips will use this pointer to create their publishers and subscribers. For example script C will create a publisher publisher_ = master_node->create_publisher<std_msgs::msg::String>("topic"); and script D will subscribe to said publisher or other publishers subscription_ = master_node->create_subscription<std_msgs::msg::String>("TopicName",topic_callback); .

The reason I want to use (Single/Multi)ThreadingExecutor is due to main code's thread being used in other matters.

Update2:

I believe the following is a better representation of my current code.

using rclcpp::executors::MultiThreadedExecutor;



std::shared_ptr<rclcpp::Node> master_node;


    void topic_callback(std_msgs::msg::String::SharedPtr msg)
  {
    std::cout  <<" Subscriber Received [" << msg->data << "]" << std::endl;
  }


int main(){
rclcpp::init(0, nullptr);

MultiThreadedExecutor executor;
master_node = rclcpp::Node::make_shared("MasterNode");
auto subscription_ = master_node->create_subscription<std_msgs::msg::String>("TopicName",topic_callback);

executor.add_node(master_node);
std::thread executor_thread(std::bind(&MultiThreadedExecutor::spin, &executor));
executor_thread.detach();
while(true){
std::cout << "hey" << std::endl;
usleep(3000000);
}
}