AMCL TransformListener reuses node rather than creating its own

[sloretz]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	ros2/rcl#375
Primary OS tested on	Ubuntu
Robotic platform tested on	None

---

Description of contribution in a few bullet points

• Makes the transform listener created by amcl reuse the existing node rather than create its own
• Works around Exception being thrown: failed to initialize rcl node: Logger already initialized for node ros2/rcl#375 by having only one node in the amcl process
• alternative to Workaround for logger exception #532

---

Future work that may be required in bullet points

• None in this repo

[sloretz]

Travis failure test_system_node failed in another PR #536 too. Unrelated to this change? https://travis-ci.org/ros-planning/navigation2/builds/484151523?utm_source=github_status&utm_medium=notification

[mkhansenbot]

I'm pretty sure all the PRs are failing the test because of the same issue. I like this change but want @crdelsey to review, as it would probably trump #532. Also, I suspect there are other nodes with the same issue besides AMCL, which is why the test is still failing.

[sloretz]

At least one more place experiencing the same issue is

 ros2 run nav2_navfn_planner navfn_planner __node:=navfn_planner

There is an extra node created here

https://github.com/ros-planning/navigation2/blob/1ae4a5493d7d9ddc3d0d1cc814050da8699b2e0d/nav2_tasks/include/nav2_tasks/service_client.hpp#L28-L32

Traceback here

#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
#1  0x00007ffff671f801 in __GI_abort () at abort.c:79
#2  0x00007ffff6d748b7 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff6d7aa06 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff6d7aa41 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff6d7ac74 in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff75f209c in rclcpp::exceptions::throw_from_rcl_error (ret=1, prefix="failed to initialize rcl node", error_state=0x7ffff7fc2b88, reset_error=0x7ffff7076cd4 <rcutils_reset_error>) at /home/sloretz/ws/ros2/src/ros2/rclcpp/rclcpp/src/rclcpp/exceptions.cpp:72
#7  0x00007ffff7628958 in rclcpp::node_interfaces::NodeBase::NodeBase (this=0x5555564acb20, node_name="GetCostmap_Node", namespace_="", context=std::shared_ptr<rclcpp::Context> (expired, weak count 0) = {...}, arguments=std::vector of length 0, capacity 0, use_global_arguments=true)
    at /home/sloretz/ws/ros2/src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_base.cpp:178
#8  0x00007ffff76237a0 in rclcpp::Node::Node (this=0x555555d27e30, node_name="GetCostmap_Node", namespace_="", context=std::shared_ptr<rclcpp::Context> (expired, weak count 0) = {...}, arguments=std::vector of length 0, capacity 0, 
    initial_parameters=std::vector of length 0, capacity 0, use_global_arguments=true, use_intra_process_comms=false, start_parameter_services=true) at /home/sloretz/ws/ros2/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:65
#9  0x00007ffff762361a in rclcpp::Node::Node (this=0x555555d27e30, node_name="GetCostmap_Node", namespace_="", use_intra_process_comms=false) at /home/sloretz/ws/ros2/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:52
#10 0x00007ffff7b5ec08 in __gnu_cxx::new_allocator<rclcpp::Node>::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (this=0x7fffffff4947, __p=0x555555d27e30, __args#0=...) at /usr/include/c++/7/ext/new_allocator.h:136
#11 0x00007ffff7b5a6fc in std::allocator_traits<std::allocator<rclcpp::Node> >::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (__a=..., __p=0x555555d27e30, __args#0=...) at /usr/include/c++/7/bits/alloc_traits.h:475
#12 0x00007ffff7b54a42 in std::_Sp_counted_ptr_inplace<rclcpp::Node, std::allocator<rclcpp::Node>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (this=0x555555d27e20, __a=...)
    at /usr/include/c++/7/bits/shared_ptr_base.h:526
#13 0x00007ffff7b4d3db in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (this=0x7fffffff4b48, __a=...)
    at /usr/include/c++/7/bits/shared_ptr_base.h:637
#14 0x00007ffff7b45474 in std::__shared_ptr<rclcpp::Node, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (this=0x7fffffff4b40, __tag=..., __a=...)
    at /usr/include/c++/7/bits/shared_ptr_base.h:1295
#15 0x00007ffff7b3daa3 in std::shared_ptr<rclcpp::Node>::shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (this=0x7fffffff4b40, __tag=..., __a=...) at /usr/include/c++/7/bits/shared_ptr.h:344
#16 0x00007ffff7b378ec in std::allocate_shared<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (__a=..., __args#0=...) at /usr/include/c++/7/bits/shared_ptr.h:691
#17 0x00007ffff7b32437 in std::make_shared<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (__args#0=...) at /usr/include/c++/7/bits/shared_ptr.h:707
#18 0x00007ffff7b2cb66 in rclcpp::Node::make_shared<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > (args#0=...) at /home/sloretz/ws/ros2/install/rclcpp/include/rclcpp/node.hpp:70
#19 0x00007ffff7b29cfb in nav2_tasks::ServiceClient<nav2_msgs::srv::GetCostmap>::ServiceClient (this=0x55555576e9f0, name="GetCostmap") at /home/sloretz/navigation/install/nav2_tasks/include/nav2_tasks/service_client.hpp:30
#20 0x00007ffff7b28bd8 in nav2_tasks::CostmapServiceClient::CostmapServiceClient (this=0x55555576e9f0) at /home/sloretz/navigation/install/nav2_tasks/include/nav2_tasks/costmap_service_client.hpp:28
#21 0x00007ffff7b22263 in nav2_navfn_planner::NavfnPlanner::NavfnPlanner (this=0x55555576e920) at /home/sloretz/navigation/navigation2/nav2_navfn_planner/src/navfn_planner.cpp:52
#22 0x0000555555557a78 in __gnu_cxx::new_allocator<nav2_navfn_planner::NavfnPlanner>::construct<nav2_navfn_planner::NavfnPlanner> (this=0x7fffffff5597, __p=0x55555576e920) at /usr/include/c++/7/ext/new_allocator.h:136
#23 0x0000555555557931 in std::allocator_traits<std::allocator<nav2_navfn_planner::NavfnPlanner> >::construct<nav2_navfn_planner::NavfnPlanner> (__a=..., __p=0x55555576e920) at /usr/include/c++/7/bits/alloc_traits.h:475
#24 0x000055555555775c in std::_Sp_counted_ptr_inplace<nav2_navfn_planner::NavfnPlanner, std::allocator<nav2_navfn_planner::NavfnPlanner>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<>(std::allocator<nav2_navfn_planner::NavfnPlanner>) (this=0x55555576e910, __a=...)
    at /usr/include/c++/7/bits/shared_ptr_base.h:526
#25 0x0000555555557457 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<nav2_navfn_planner::NavfnPlanner, std::allocator<nav2_navfn_planner::NavfnPlanner>>(std::_Sp_make_shared_tag, nav2_navfn_planner::NavfnPlanner*, std::allocator<nav2_navfn_planner::NavfnPlanner> const&) (this=0x7fffffff56f8, __a=...) at /usr/include/c++/7/bits/shared_ptr_base.h:637
#26 0x000055555555730a in std::__shared_ptr<nav2_navfn_planner::NavfnPlanner, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<nav2_navfn_planner::NavfnPlanner>>(std::_Sp_make_shared_tag, std::allocator<nav2_navfn_planner::NavfnPlanner> const&) (this=0x7fffffff56f0, 
    __tag=..., __a=...) at /usr/include/c++/7/bits/shared_ptr_base.h:1295
#27 0x0000555555557258 in std::shared_ptr<nav2_navfn_planner::NavfnPlanner>::shared_ptr<std::allocator<nav2_navfn_planner::NavfnPlanner>>(std::_Sp_make_shared_tag, std::allocator<nav2_navfn_planner::NavfnPlanner> const&) (this=0x7fffffff56f0, __tag=..., __a=...)
    at /usr/include/c++/7/bits/shared_ptr.h:344
#28 0x00005555555570f0 in std::allocate_shared<nav2_navfn_planner::NavfnPlanner, std::allocator<nav2_navfn_planner::NavfnPlanner>>(std::allocator<nav2_navfn_planner::NavfnPlanner> const&) (__a=...) at /usr/include/c++/7/bits/shared_ptr.h:691
#29 0x0000555555556ec7 in std::make_shared<nav2_navfn_planner::NavfnPlanner> () at /usr/include/c++/7/bits/shared_ptr.h:707
#30 0x0000555555556b31 in main (argc=2, argv=0x7fffffff5878) at /home/sloretz/navigation/navigation2/nav2_navfn_planner/src/main.cpp:22

I don't have more time to look into this at the moment. I think this PR is still a good idea, though it looks like #532 will still be needed to make CI green again.

[ghost]

We had a brief meeting and the team prefers this approach over #532. I'll pick up where you left off and see if I can get this to pass CI tomorrow

[ghost]

Well, this gets the system test passing in Travis, but broke everything else. I think the other CI builds are broken because I pushed to @sloretz branch, and now they are confused about what branch to pull from. I believe the build failures are not the fault of the changes in this PR.

[mkhansenbot]

Looks good to me and passed the PR CI. I think it's good to merge.