Specified __del__ method does not get called after importing sensor_msgs.msg.Imu while having a timer callback #1533
Description
Generated by Generative AI
No response
Operating System:
spongebob-Precision-3660 6.8.0-85-generic #85~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Fri Sep 19 16:18:59 UTC 2 x86_64 x86_64 x86_64 GNU/LinuxLinux
ROS version or commit hash:
humble
RMW implementation (if applicable):
rmw_fastrtps_cpp
RMW Configuration (if applicable):
No response
Client library (if applicable):
rclpy
'ros2 doctor --report' output
ros2 doctor --report
NETWORK CONFIGURATION
[REDACTED FOR PRIVACY]
PACKAGE VERSIONS
quality_of_service_demo_cpp : latest=0.20.6, local=0.20.5
ament_cmake_cppcheck : latest=0.12.14, local=0.12.14
sros2_cmake : latest=0.10.7, local=0.10.7
rmw_dds_common : latest=1.6.0, local=1.6.0
tf2_kdl : latest=0.25.17, local=0.25.16
zed_msgs : latest=5.1.1, local=5.0.1
rqt_py_console : latest=1.0.2, local=1.0.2
launch_yaml : latest=1.0.12, local=1.0.10
rosidl_typesupport_introspection_cpp : latest=3.1.7, local=3.1.7
angles : latest=1.15.0, local=1.15.0
examples_rclcpp_multithreaded_executor : latest=0.15.5, local=0.15.4
rqt_action : latest=2.0.1, local=2.0.1
rmw_fastrtps_cpp : latest=6.2.9, local=6.2.8
robot_state_publisher : latest=3.0.3, local=3.0.3
ros2launch : latest=0.19.12, local=0.19.12
interactive_markers : latest=2.3.2, local=2.3.2
launch_ros : latest=0.19.12, local=0.19.12
python_qt_binding : latest=1.1.3, local=1.1.2
rcl_yaml_param_parser : latest=5.3.11, local=5.3.10
pluginlib : latest=5.1.2, local=5.1.0
quality_of_service_demo_py : latest=0.20.6, local=0.20.5
rqt_plot : latest=1.1.5, local=1.1.5
examples_rclpy_minimal_action_client : latest=0.15.5, local=0.15.4
vision_msgs : latest=4.1.1, local=4.1.1
class_loader : latest=2.2.0, local=2.2.0
rosbag2_storage : latest=0.15.15, local=0.15.15
std_msgs : latest=4.9.0, local=4.9.0
builtin_interfaces : latest=1.2.2, local=1.2.2
ament_cmake_export_link_flags : latest=1.3.12, local=1.3.12
pybind11_vendor : latest=2.4.2, local=2.4.2
tf2_tools : latest=0.25.17, local=0.25.16
rcutils : latest=5.1.7, local=5.1.7
ros_environment : latest=3.2.2, local=3.2.2
ament_cmake_gmock : latest=1.3.12, local=1.3.12
rosidl_cmake : latest=3.1.7, local=3.1.7
ament_cmake_include_directories : latest=1.3.12, local=1.3.12
ament_cmake_export_interfaces : latest=1.3.12, local=1.3.12
rosbag2_compression_zstd : latest=0.15.15, local=0.15.15
examples_rclcpp_minimal_composition : latest=0.15.5, local=0.15.4
lifecycle : latest=0.20.6, local=0.20.5
rviz_assimp_vendor : latest=11.2.22, local=11.2.20
ros2component : latest=0.18.14, local=0.18.14
tf2_msgs : latest=0.25.17, local=0.25.16
rosbag2 : latest=0.15.15, local=0.15.15
ament_cmake_python : latest=1.3.12, local=1.3.12
action_msgs : latest=1.2.2, local=1.2.2
fastrtps_cmake_module : latest=2.2.3, local=2.2.2
tinyxml2_vendor : latest=0.7.6, local=0.7.6
tf2 : latest=0.25.17, local=0.25.16
ament_cmake_xmllint : latest=0.12.14, local=0.12.14
message_filters : latest=4.3.11, local=4.3.8
ros2multicast : latest=0.18.14, local=0.18.14
ament_cmake_flake8 : latest=0.12.14, local=0.12.14
rosidl_adapter : latest=3.1.7, local=3.1.7
pendulum_msgs : latest=0.20.6, local=0.20.5
qt_dotgraph : latest=2.2.4, local=2.2.4
rclcpp_components : latest=16.0.15, local=16.0.15
stereo_msgs : latest=4.9.0, local=4.9.0
ament_cmake_pytest : latest=1.3.12, local=1.3.12
topic_monitor : latest=0.20.6, local=0.20.5
trajectory_msgs : latest=4.9.0, local=4.9.0
ros2node : latest=0.18.14, local=0.18.14
zstd_vendor : latest=0.15.15, local=0.15.15
logging_demo : latest=0.20.6, local=0.20.5
visualization_msgs : latest=4.9.0, local=4.9.0
rosidl_generator_cpp : latest=3.1.7, local=3.1.7
ament_index_cpp : latest=1.4.0, local=1.4.0
ament_cmake_uncrustify : latest=0.12.14, local=0.12.14
rosbag2_transport : latest=0.15.15, local=0.15.15
rpyutils : latest=0.2.2, local=0.2.1
rosbag2_storage_default_plugins : latest=0.15.15, local=0.15.15
ament_cmake_ros : latest=0.10.0, local=0.10.0
teleop_twist_keyboard : latest=2.4.1, local=2.4.0
uncrustify_vendor : latest=2.0.2, local=2.0.2
rosidl_typesupport_fastrtps_cpp : latest=2.2.3, local=2.2.2
joy : latest=3.3.0, local=3.3.0
turtlesim : latest=1.4.3, local=1.4.2
ros2cli_common_extensions : latest=0.1.1, local=0.1.1
rqt_common_plugins : latest=1.2.0, local=1.2.0
dummy_robot_bringup : latest=0.20.6, local=0.20.5
rosidl_runtime_cpp : latest=3.1.7, local=3.1.7
ros2topic : latest=0.18.14, local=0.18.14
pcl_msgs : latest=1.0.0, local=1.0.0
ament_cmake_gen_version_h : latest=1.3.12, local=1.3.12
libcurl_vendor : latest=3.1.3, local=3.1.3
tf2_sensor_msgs : latest=0.25.17, local=0.25.16
ament_cmake_target_dependencies : latest=1.3.12, local=1.3.12
ament_lint_cmake : latest=0.12.14, local=0.12.14
domain_coordinator : latest=0.10.0, local=0.10.0
launch_testing_ros : latest=0.19.12, local=0.19.12
laser_geometry : latest=2.4.1, local=2.4.0
rosidl_typesupport_fastrtps_c : latest=2.2.3, local=2.2.2
shared_queues_vendor : latest=0.15.15, local=0.15.15
launch_xml : latest=1.0.12, local=1.0.10
examples_rclpy_minimal_subscriber : latest=0.15.5, local=0.15.4
action_tutorials_cpp : latest=0.20.6, local=0.20.5
rosidl_parser : latest=3.1.7, local=3.1.7
ament_cmake_export_include_directories : latest=1.3.12, local=1.3.12
ament_cmake_lint_cmake : latest=0.12.14, local=0.12.14
ament_cmake_core : latest=1.3.12, local=1.3.12
tlsf : latest=0.7.0, local=0.7.0
ament_cmake_test : latest=1.3.12, local=1.3.12
rqt_py_common : latest=1.1.9, local=1.1.7
rqt_shell : latest=1.0.2, local=1.0.2
actionlib_msgs : latest=4.9.0, local=4.9.0
examples_rclpy_executors : latest=0.15.5, local=0.15.4
composition : latest=0.20.6, local=0.20.5
sensor_msgs_py : latest=4.9.0, local=4.9.0
rosidl_typesupport_interface : latest=3.1.7, local=3.1.7
rttest : latest=0.13.0, local=0.13.0
ament_cmake_pep257 : latest=0.12.14, local=0.12.14
rosbag2_compression : latest=0.15.15, local=0.15.15
ament_index_python : latest=1.4.0, local=1.4.0
dummy_sensors : latest=0.20.6, local=0.20.5
image_transport : latest=3.1.12, local=3.1.12
ament_cmake_libraries : latest=1.3.12, local=1.3.12
tf2_py : latest=0.25.17, local=0.25.16
unique_identifier_msgs : latest=2.2.1, local=2.2.1
rclpy : latest=3.3.18, local=3.3.17
python_cmake_module : latest=0.10.0, local=0.10.0
demo_nodes_cpp_native : latest=0.20.6, local=0.20.5
examples_rclcpp_minimal_service : latest=0.15.5, local=0.15.4
rcl_action : latest=5.3.11, local=5.3.10
ros2action : latest=0.18.14, local=0.18.14
tf2_ros : latest=0.25.17, local=0.25.16
nav_msgs : latest=4.9.0, local=4.9.0
rqt_service_caller : latest=1.0.5, local=1.0.5
rclcpp : latest=16.0.15, local=16.0.15
ament_lint : latest=0.12.14, local=0.12.14
examples_rclpy_minimal_service : latest=0.15.5, local=0.15.4
examples_rclpy_minimal_client : latest=0.15.5, local=0.15.4
ament_cppcheck : latest=0.12.14, local=0.12.14
ament_cpplint : latest=0.12.14, local=0.12.14
rosgraph_msgs : latest=1.2.2, local=1.2.2
rmw : latest=6.1.2, local=6.1.2
ament_flake8 : latest=0.12.14, local=0.12.14
examples_rclcpp_minimal_action_server : latest=0.15.5, local=0.15.4
examples_rclcpp_minimal_action_client : latest=0.15.5, local=0.15.4
sensor_msgs : latest=4.9.0, local=4.9.0
urdf_parser_plugin : latest=2.6.1, local=2.6.1
rmw_implementation_cmake : latest=6.1.2, local=6.1.2
rcpputils : latest=2.4.6, local=2.4.5
sdl2_vendor : latest=3.3.0, local=3.3.0
rosidl_typesupport_introspection_c : latest=3.1.7, local=3.1.7
intra_process_demo : latest=0.20.6, local=0.20.5
rclcpp_lifecycle : latest=16.0.15, local=16.0.15
rviz_common : latest=11.2.22, local=11.2.20
std_srvs : latest=4.9.0, local=4.9.0
ament_cmake_export_targets : latest=1.3.12, local=1.3.12
tango_icons_vendor : latest=0.1.1, local=0.1.1
geometry_msgs : latest=4.9.0, local=4.9.0
ament_cmake_export_libraries : latest=1.3.12, local=1.3.12
rclcpp_action : latest=16.0.15, local=16.0.15
rcl : latest=5.3.11, local=5.3.10
rqt_graph : latest=1.3.1, local=1.3.1
ament_package : latest=0.14.1, local=0.14.1
examples_rclpy_minimal_action_server : latest=0.15.5, local=0.15.4
ros2interface : latest=0.18.14, local=0.18.14
tracetools : latest=4.1.1, local=4.1.1
ament_cmake_cpplint : latest=0.12.14, local=0.12.14
ros2cli : latest=0.18.14, local=0.18.14
rviz_rendering : latest=11.2.22, local=11.2.20
rcl_logging_spdlog : latest=2.3.1, local=2.3.1
ros2lifecycle : latest=0.18.14, local=0.18.14
ros2run : latest=0.18.14, local=0.18.14
ament_cmake_gtest : latest=1.3.12, local=1.3.12
ament_pep257 : latest=0.12.14, local=0.12.14
resource_retriever : latest=3.1.3, local=3.1.3
rosidl_cli : latest=3.1.7, local=3.1.7
demo_nodes_py : latest=0.20.6, local=0.20.5
rqt_bag : latest=1.1.5, local=1.1.5
rqt_srv : latest=1.0.3, local=1.0.3
ros2bag : latest=0.15.15, local=0.15.15
ros2param : latest=0.18.14, local=0.18.14
rcl_lifecycle : latest=5.3.11, local=5.3.10
examples_rclcpp_minimal_subscriber : latest=0.15.5, local=0.15.4
ros2service : latest=0.18.14, local=0.18.14
tf2_eigen_kdl : latest=0.25.17, local=0.25.16
sros2 : latest=0.10.7, local=0.10.7
ament_cmake_export_dependencies : latest=1.3.12, local=1.3.12
rqt_publisher : latest=1.5.0, local=1.5.0
example_interfaces : latest=0.9.3, local=0.9.3
qt_gui_cpp : latest=2.2.4, local=2.2.4
launch_testing_ament_cmake : latest=1.0.12, local=1.0.10
statistics_msgs : latest=1.2.2, local=1.2.2
cv_bridge : latest=3.2.1, local=3.2.1
rqt_console : latest=2.0.3, local=2.0.3
console_bridge_vendor : latest=1.4.1, local=1.4.1
rosidl_runtime_c : latest=3.1.7, local=3.1.7
rqt_gui_cpp : latest=1.1.9, local=1.1.7
rqt_gui : latest=1.1.9, local=1.1.7
ros2pkg : latest=0.18.14, local=0.18.14
image_tools : latest=0.20.6, local=0.20.5
qt_gui : latest=2.2.4, local=2.2.4
rosidl_default_generators : latest=1.2.0, local=1.2.0
action_tutorials_interfaces : latest=0.20.6, local=0.20.5
demo_nodes_cpp : latest=0.20.6, local=0.20.5
ros_workspace : latest=1.0.2, local=1.0.2
tf2_geometry_msgs : latest=0.25.17, local=0.25.16
ament_lint_auto : latest=0.12.14, local=0.12.14
ament_cmake_auto : latest=1.3.12, local=1.3.12
vrpn_mocap : latest=1.1.0, local=1.1.0
tf2_bullet : latest=0.25.17, local=0.25.16
rosbag2_interfaces : latest=0.15.15, local=0.15.15
pcl_conversions : latest=2.4.5, local=2.4.5
rosidl_runtime_py : latest=0.9.3, local=0.9.3
desktop : latest=0.10.0, local=0.10.0
rosidl_generator_c : latest=3.1.7, local=3.1.7
rqt_msg : latest=1.2.0, local=1.2.0
sqlite3_vendor : latest=0.15.15, local=0.15.15
launch : latest=1.0.12, local=1.0.10
spdlog_vendor : latest=1.3.1, local=1.3.1
rviz_ogre_vendor : latest=11.2.22, local=11.2.20
examples_rclcpp_minimal_client : latest=0.15.5, local=0.15.4
rosbag2_cpp : latest=0.15.15, local=0.15.15
libyaml_vendor : latest=1.2.2, local=1.2.2
rmw_implementation : latest=2.8.5, local=2.8.5
rosidl_typesupport_c : latest=2.0.2, local=2.0.2
action_tutorials_py : latest=0.20.6, local=0.20.5
yaml_cpp_vendor : latest=8.0.2, local=8.0.2
dummy_map_server : latest=0.20.6, local=0.20.5
ament_cmake_copyright : latest=0.12.14, local=0.12.14
common_interfaces : latest=4.9.0, local=4.9.0
rqt_gui_py : latest=1.1.9, local=1.1.7
examples_rclcpp_minimal_timer : latest=0.15.5, local=0.15.4
ros_base : latest=0.10.0, local=0.10.0
rosidl_generator_py : latest=0.14.6, local=0.14.5
orocos_kdl_vendor : latest=0.2.5, local=0.2.5
eigen3_cmake_module : latest=0.1.1, local=0.1.1
rqt_topic : latest=1.5.0, local=1.5.0
rviz_default_plugins : latest=11.2.22, local=11.2.20
rosidl_default_runtime : latest=1.2.0, local=1.2.0
teleop_twist_joy : latest=2.4.8, local=2.4.8
ros_core : latest=0.10.0, local=0.10.0
composition_interfaces : latest=1.2.2, local=1.2.2
launch_testing : latest=1.0.12, local=1.0.10
python_orocos_kdl_vendor : latest=0.2.5, local=0.2.5
tf2_ros_py : latest=0.25.17, local=0.25.16
qt_gui_py_common : latest=2.2.4, local=2.2.4
examples_rclpy_minimal_publisher : latest=0.15.5, local=0.15.4
tlsf_cpp : latest=0.13.0, local=0.13.0
ament_xmllint : latest=0.12.14, local=0.12.14
depthimage_to_laserscan : latest=2.5.1, local=2.5.1
shape_msgs : latest=4.9.0, local=4.9.0
diagnostic_msgs : latest=4.9.0, local=4.9.0
tf2_eigen : latest=0.25.17, local=0.25.16
tinyxml_vendor : latest=0.8.3, local=0.8.3
geometry2 : latest=0.25.17, local=0.25.16
image_geometry : latest=3.2.1, local=3.2.1
rcl_interfaces : latest=1.2.2, local=1.2.2
rcl_logging_interface : latest=2.3.1, local=2.3.1
ros2doctor : latest=0.18.14, local=0.18.14
rosbag2_py : latest=0.15.15, local=0.15.15
ament_copyright : latest=0.12.14, local=0.12.14
rqt_reconfigure : latest=1.1.2, local=1.1.2
rosidl_typesupport_cpp : latest=2.0.2, local=2.0.2
ament_cmake : latest=1.3.12, local=1.3.12
keyboard_handler : latest=0.0.5, local=0.0.5
lifecycle_msgs : latest=1.2.2, local=1.2.2
pendulum_control : latest=0.20.6, local=0.20.5
rviz2 : latest=11.2.22, local=11.2.20
rqt_image_view : latest=1.2.0, local=1.2.0
map_msgs : latest=2.1.0, local=2.1.0
urdf : latest=2.6.1, local=2.6.1
ament_cmake_version : latest=1.3.12, local=1.3.12
ament_uncrustify : latest=0.12.14, local=0.12.14
examples_rclcpp_minimal_publisher : latest=0.15.5, local=0.15.4
rqt_bag_plugins : latest=1.1.5, local=1.1.5
ament_cmake_export_definitions : latest=1.3.12, local=1.3.12
osrf_pycommon : latest=2.1.6, local=2.1.6
rmw_fastrtps_shared_cpp : latest=6.2.9, local=6.2.8
ament_lint_common : latest=0.12.14, local=0.12.14
libstatistics_collector : latest=1.3.4, local=1.3.4
kdl_parser : latest=2.6.4, local=2.6.4
PLATFORM INFORMATION
system : Linux
platform info : Linux-6.8.0-85-generic-x86_64-with-glibc2.35
release : 6.8.0-85-generic
processor : x86_64
QOS COMPATIBILITY LIST
compatibility status : No publisher/subscriber pairs found
RMW MIDDLEWARE
middleware name : rmw_fastrtps_cpp
ROS 2 INFORMATION
distribution name : humble
distribution type : ros2
distribution status : active
release platforms : {'rhel': ['8'], 'ubuntu': ['jammy']}
TOPIC LIST
topic : none
publisher count : 0
subscriber count : 0Steps to reproduce issue
When running a node with a timer callback that is close to or exceeds the timer period, the __del__ method is not called on the node when terminating the process but ONLY when running from sensor_msgs.msg import Imu. When commenting out the message, the __del__ method works as intended.
Reproducible example:
Node:
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Imu # comment out this line to fix the issue?
import time
class MinimalPublisher(Node):
def __init__(self):
super().__init__('minimal_publisher')
self.get_logger().info('Initialised')
self.timer = self.create_timer(0.1, self.timer_callback)
def __del__(self):
print("Deleting node")
def timer_callback(self):
self.get_logger().info('Called!')
time.sleep(0.09)
def main(args=None):
rclpy.init(args=args)
node = MinimalPublisher()
try:
rclpy.spin(node)
except KeyboardInterrupt:
pass
node.destroy_node()
if __name__ == '__main__':
main()All other files are taken from the minimal publisher example for ros2 humble.
Commenting out the imported line fixes the issue. Other sensor_msgs packages give the same issue (tested with Image and Temperature messages). I have not been able to reproduce the issue with other msg packages (tested with std_msgs.msg.String and nav_msgs.msg.Odometry).
Reducing the time.sleep duration also increases the likelihood of the __del__ method being called.
A coworker and I have also been able to reproduce the issue in a Docker container (base image ros:humble with the package mounted). See the image below, where the first time is without the import, and the second time is with the import:
Expected behavior
__del__ method is called when terminating the process via ctrl-C, printing out "Deleting node"
Actual behavior
__del__ method is not called when the import statement is there, no print statement is made as a result
Additional information
No response