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2023-06-09 14:07:12 -0500 edited question ROS2 variant and dependency versioning for deployment

ROS2 variant and dependency versioning for deployment Hello, Looking for advice on how others have approached the follow
2023-06-09 13:47:45 -0500 commented question ROS2 variant and dependency versioning for deployment

Awesome thanks for the presentation link. Would you like me to close this question as maybe there isn't a perfect answer
2023-06-09 13:34:34 -0500 edited question ROS2 variant and dependency versioning for deployment

ROS2 variant and dependency versioning for deployment Hello, Looking for advice on how others have approached the follow
2023-06-09 13:33:52 -0500 commented question ROS2 variant and dependency versioning for deployment

@gvdhoorn, this is awesome! Thanks for the reply and clarification. I think a combination of using the ROS SnapshotRepos
2023-06-09 11:46:12 -0500 asked a question ROS2 variant and dependency versioning for deployment

ROS2 variant and dependency versioning for deployment Hello, Looking for advice on how others have approached the follow
2023-06-06 12:23:11 -0500 answered a question Docker container and host communication: source behaves oddly

This question seems to be a duplicate of https://answers.ros.org/question/370595/ros2-foxy-nodes-cant-communicate-throug
2023-06-06 11:34:22 -0500 edited answer ROS2 Docker development practice (volume mounting)

@ThomasL624 I have found it best to separate Dockerized development from Dockerized deployment. It is usually best to ha
2023-06-06 11:33:38 -0500 edited answer ROS2 Docker development practice (volume mounting)

@ThomasL624 I have found it best to separate Dockerized development from Dockerized deployment. It is usually best to ha
2023-06-06 11:21:21 -0500 answered a question ROS2 Docker development practice (volume mounting)

@ThomasL624 I have found it best to separate Dockerized development from Dockerized deployment. It is usually best to ha
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2023-04-10 17:45:04 -0500 commented answer Odd Docker roscore/roslaunch delays with Linux kernel 6.1

@ruffsl the issue was really that the newer buildroot LTS (2023.02) brought in a docker/containerd change that increased
2023-04-10 17:45:00 -0500 commented answer Odd Docker roscore/roslaunch delays with Linux kernel 6.1

@ruffsl the issue was really that the newer buildroot LTS (2023.02) brought in a docker/containerd change that increased
2023-04-10 17:44:20 -0500 commented answer Odd Docker roscore/roslaunch delays with Linux kernel 6.1

@ruffsl the issue was really that the newer buildroot LTS (2023.02) brought in a docker/containerd change that increased
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2023-03-28 14:47:56 -0500 edited answer Odd Docker roscore/roslaunch delays with Linux kernel 6.1

Update #3 in the original post is a bandaid solution for the delays in roscore and roslaunch. Update #4 highlights the

2023-03-28 14:44:40 -0500 edited question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

Odd Docker roscore/roslaunch delays with Linux kernel 6.1 Hello, I have an odd one here and am trying to figure out a po
2023-03-27 22:11:02 -0500 commented answer rosout high memory usage

You can also use docker run ... --ulimit nofile=1024:524288 to set the soft and hard nofile limits. If you want this for
2023-03-27 22:10:13 -0500 commented answer rosout high memory usage

You can also use docker run ... --ulimit nofile=1024:524288 to set the soft and hard nofile limits. If you want this for
2023-03-27 22:09:53 -0500 commented answer rosout high memory usage

You can also use docker run ... --ulimit nofile=1024:524288 to set the soft and hard nofile limits. If you want this for
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2023-03-26 09:22:51 -0500 marked best answer Odd Docker roscore/roslaunch delays with Linux kernel 6.1

Hello, I have an odd one here and am trying to figure out a possible root cause!

The Situation

I am running a custom Linux version made using Buildroot, with application ROS code containerized. I have noticed some odd behavior with both roscore and roslaunch delaying between log messages and ultimately taking minutes to execute. This behavior occurs only with ROS kinetic, lunar, and melodic versions of roscore and roslaunch on Linux kernel 6.1. ROS noetic behaves as expected.

Note: the same configuration on Linux kernel 5.15 does not exhibit this behavior.

Test Summary

On Linux kernel 6.1, using the ros:kinetic/ros:lunar/ros:melodic Docker images from Docker Hub.

Run docker run -it --network host --entrypoint bash ros:kinetic, then from within the container run source /opt/ros/${ROS_DISTRO}/setup.bash && roscore -v

The terminal displays: 

... logging to /root/.ros/log/0dfbd9a8-c533-11ed-998a-78d0042ad370/roslaunch-oc-general-68.log
Checking log directory for disk usage. This may take awhile.
 Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB. 

... loading XML file [/opt/ros/kinetic/etc/ros/roscore.xml]
... executing command param [rosversion roslaunch]
Added parameter [/rosversion]
... executing command param [rosversion -d]
Added parameter [/rosdistro]
Added core node of type [rosout/rosout] in namespace [/]
started roslaunch server http://localhost:40105/
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.17

NODES

auto-starting new master

And it hangs on auto-starting new master for ~100 seconds. The CPU% from htop is 100%.

After the initial ~100 seconds, roscore printed:

process[master]: started with pid [78]
ROS_MASTER_URI=http://localhost:11311/

setting /run_id to 0dfbd9a8-c533-11ed-998a-78d0042ad370

And hangs for another ~100 seconds on setting /run_id .... The CPU% from htop is also 100%.

Finally roscore finished with:

process[rosout-1]: started with pid [91]
started core service [/rosout]

Similar behavior exists when running roslaunch ... with the ~100 second wait occurring on the ROS_MASTER_URI=http://localhost:11311 output.

ROS Environment Variable

ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROS_PYTHON_VERSION=2
ROS_VERSION=1
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros

Interestingly enough, if I use rosmon to launch I do not see the ~100 second wait. Could this point to a python issue shared by roscore and roslaunch since rosmon is written in C++?

Any advice would be greatly appreciated!

Update

Using pdb running roscore in the ros:melodic container, I have narrowed it down to the following call in the roslaunch/nodeprocess.py file:

/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py(340)

Which is a call to subprocess.Popen (see https://github.com/ros/ros_comm/blob/...)

Stepping into the subprocess.Popen call it seems to be here:

> /usr/lib/python2.7/subprocess.py(394)__init__()
-> errread, errwrite)

After executing that subprocess function the output from ps -aux is:

root         160  0.1  0.0 377148 63644 pts/0    Sl+  01:35   0:00 python -m pdb roscore
root         174 99.2  0.0 377148 54332 ?        Rs ...
(more)
2023-03-25 14:34:03 -0500 edited question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

Odd Docker roscore/roslaunch delays with Linux kernel 6.1 Hello, I have an odd one here and am trying to figure out a po
2023-03-25 14:33:00 -0500 answered a question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

After digging around the internet, I found that there have been issues with Python2's subprocess module causing deadlock
2023-03-25 09:20:21 -0500 commented question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

@gvdhoorn let me know if you want to mark this closed or add an answer based on my recent update. Thank you for all your
2023-03-25 09:18:45 -0500 edited question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

Odd Docker roscore/roslaunch delays with Linux kernel 6.1 Hello, I have an odd one here and am trying to figure out a po
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2023-03-20 21:02:45 -0500 commented question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

Still digging into this, I have started to convince myself this may not be an issue with Kernel 6.1 but a package or pac
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2023-03-19 16:27:56 -0500 commented question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

@gvdhoorn, see the update in the original post, seems like this is an issue with Python2 and Linux kernel 6.1. Suggest w
2023-03-19 16:27:01 -0500 edited question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

Odd Docker roscore/roslaunch delays with Linux kernel 6.1 Hello, I have an odd one here and am trying to figure out a po
2023-03-19 16:26:38 -0500 commented question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

@gvdhoorn, see update in original post, seems like this is an issue with Python2 and Linux kernel 6.1.

2023-03-19 16:26:02 -0500 edited question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

Odd Docker roscore/roslaunch delays with Linux kernel 6.1 Hello, I have an odd one here and am trying to figure out a po
2023-03-19 15:20:48 -0500 commented question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

@Mike Scheutzow there is only a single roscore being run. If there was multiple I would expect to see: RLException: ros
2023-03-19 09:11:04 -0500 commented question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

@Mike Scheutzow there is only a single roscore being run, otherwise, I would expect to see RLException: roscore cannot

2023-03-19 09:04:32 -0500 commented question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

@gvdhoorn, updated the original post with the above comments, sorry about that. Feel free to remove the comments.

2023-03-19 09:01:52 -0500 edited question Odd Docker roscore/roslaunch delays with Linux kernel 6.1

Odd Docker roscore/roslaunch delays with Linux kernel 6.1 Hello, I have an odd one here and am trying to figure out a po
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