add signal handler SIGIN/SIGTERM to ros2run. #899

fujitatomoya · 2024-04-22T18:35:15Z

address #895

fujitatomoya · 2024-04-22T18:37:08Z

CC: @clalancette @sloretz

ros2run/ros2run/api/__init__.py

fujitatomoya · 2024-04-23T17:16:38Z

CI:

Linux
Linux-aarch64
Windows

fujitatomoya · 2024-06-25T05:38:49Z

CI:

Linux
Linux-aarch64
Linux-rhel
Windows

rafa-martin

Hi, I tested this patch, and it works. (tested on ubuntu 22 with humble).

fujitatomoya · 2024-08-03T21:50:01Z

@rafa-martin thanks for checking.

@clalancette @sloretz @ahcorde can either of you have a look?

MichaelOrlov · 2024-08-15T19:44:59Z

@ros-pull-request-builder retest this please

MichaelOrlov · 2024-08-15T19:45:53Z

@clalancette @sloretz @ahcorde Friendly ping for review

MichaelOrlov · 2024-08-22T17:28:03Z

@fujitatomoya There are some test failures in the RPR job and they are repeating after RPR job re-run.
Also the previous Linux CI job was also failing. Need to either restart it or address failures.
Could you please take a look at it?

fujitatomoya · 2024-08-22T17:28:26Z

all tests seem to be passed, but no result available error with rpr job. (https://build.ros2.org/job/Rpr__ros2cli__ubuntu_noble_amd64/24/testReport/(root)/ros2cli/pytest_missing_result/)

i will rebase and restart the CI again.

fujitatomoya · 2024-08-22T17:30:28Z

CI:

Linux
Linux-aarch64
Linux-rhel
Windows

MichaelOrlov · 2024-08-22T17:49:11Z

@fujitatomoya As regards:

all tests seem to be passed, but no result available error with rpr job. (https://build.ros2.org/job/Rpr__ros2cli__ubuntu_noble_amd64/24/testReport/(root)/ros2cli/pytest_missing_result/)

i will rebase and restart the CI again.

From the raw log section

Summary: 15 packages finished [20min 27s]
13 packages had stderr output: ros2action ros2cli ros2component ros2doctor ros2interface ros2lifecycle ros2multicast ros2node ros2param ros2pkg ros2run ros2service ros2topic
1 package had test failures: ros2cli

It was a segfault in python code and test timed out.
A bit of details about failure from the same log:

Click to expand

Starting >>> ros2cli
============================= test session starts ==============================
platform linux -- Python 3.12.3, pytest-7.4.4, pluggy-1.4.0
cachedir: /tmp/ws/build_isolated/ros2cli/.pytest_cache
rootdir: /tmp/ws/src/ros2cli
configfile: pytest.ini
plugins: ament-lint-0.18.1, ament-copyright-0.18.1, ament-xmllint-0.18.1, launch-testing-3.6.1, ament-flake8-0.18.1, ament-pep257-0.18.1, launch-testing-ros-0.27.2, colcon-core-0.17.0, cov-4.1.0, timeout-2.2.0, rerunfailures-12.0
timeout: 900.0s
timeout method: thread
timeout func_only: False
collected 31 items

test/test_copyright.py . [ 3%]
test/test_daemon.py ................... [ 64%]
test/test_direct.py .... [ 77%]
Fatal Python error: Segmentation fault

Current thread 0x00007f5814d77140 (most recent call first):
Garbage-collecting
File "/usr/lib/python3.12/collections/init.py", line 447 in _make
File "/usr/lib/python3.12/tokenize.py", line 577 in _generate_tokens_from_c_tokenizer
File "/usr/lib/python3/dist-packages/flake8_quotes/init.py", line 203 in get_noqa_lines
File "/usr/lib/python3/dist-packages/flake8_quotes/init.py", line 195 in run
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 428 in run_ast_checks
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 526 in run_checks
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 83 in _mp_run
File "/usr/lib/python3.12/multiprocessing/pool.py", line 125 in worker
File "/usr/lib/python3.12/multiprocessing/process.py", line 108 in run
File "/usr/lib/python3.12/multiprocessing/process.py", line 314 in _bootstrap
File "/usr/lib/python3.12/multiprocessing/popen_fork.py", line 71 in _launch
File "/usr/lib/python3.12/multiprocessing/popen_fork.py", line 19 in init
File "/usr/lib/python3.12/multiprocessing/context.py", line 282 in _Popen
File "/usr/lib/python3.12/multiprocessing/process.py", line 121 in start
File "/usr/lib/python3.12/multiprocessing/pool.py", line 329 in _repopulate_pool_static
File "/usr/lib/python3.12/multiprocessing/pool.py", line 306 in _repopulate_pool
File "/usr/lib/python3.12/multiprocessing/pool.py", line 215 in init
File "/usr/lib/python3.12/multiprocessing/context.py", line 119 in Pool
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 589 in _try_initialize_processpool
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 197 in run_parallel
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 236 in run
File "/usr/lib/python3/dist-packages/flake8/main/application.py", line 103 in run_checks
File "/usr/lib/python3/dist-packages/flake8/api/legacy.py", line 116 in check_files
File "/opt/ros/rolling/lib/python3.12/site-packages/ament_flake8/main.py", line 281 in generate_flake8_report
File "/opt/ros/rolling/lib/python3.12/site-packages/ament_flake8/main.py", line 88 in main_with_errors
File "/tmp/ws/src/ros2cli/ros2cli/test/test_flake8.py", line 22 in test_flake8
File "/usr/lib/python3/dist-packages/_pytest/python.py", line 194 in pytest_pyfunc_call
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/python.py", line 1792 in runtest
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 169 in pytest_runtest_call
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 262 in
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 341 in from_call
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 261 in call_runtest_hook
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 222 in call_and_report
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 133 in runtestprotocol
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 114 in pytest_runtest_protocol
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/main.py", line 350 in pytest_runtestloop
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/main.py", line 325 in _main
File "/usr/lib/python3/dist-packages/_pytest/main.py", line 271 in wrap_session
File "/usr/lib/python3/dist-packages/_pytest/main.py", line 318 in pytest_cmdline_main
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/config/init.py", line 169 in main
File "/usr/lib/python3/dist-packages/_pytest/config/init.py", line 192 in console_main
File "/usr/lib/python3/dist-packages/pytest/main.py", line 5 in
File "", line 88 in _run_code
File "", line 198 in _run_module_as_main

Extension modules: yaml._yaml, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, psutil._psutil_linux, psutil._psutil_posix, rcl_interfaces.rcl_interfaces_s__rosidl_typesupport_c, builtin_interfaces.builtin_interfaces_s__rosidl_typesupport_c, service_msgs.service_msgs_s__rosidl_typesupport_c, type_description_interfaces.type_description_interfaces_s__rosidl_typesupport_c, test_msgs.test_msgs_s__rosidl_typesupport_c, action_msgs.action_msgs_s__rosidl_typesupport_c, unique_identifier_msgs.unique_identifier_msgs_s__rosidl_typesupport_c (total: 23)
Fatal Python error: Segmentation fault

Current thread 0x00007f5814d77140 (most recent call first):
Garbage-collecting
File "/usr/lib/python3.12/collections/init.py", line 447 in _make
File "/usr/lib/python3.12/tokenize.py", line 577 in _generate_tokens_from_c_tokenizer
File "/usr/lib/python3/dist-packages/flake8_quotes/init.py", line 203 in get_noqa_lines
File "/usr/lib/python3/dist-packages/flake8_quotes/init.py", line 195 in run
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 428 in run_ast_checks
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 526 in run_checks
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 83 in _mp_run
File "/usr/lib/python3.12/multiprocessing/pool.py", line 125 in worker
File "/usr/lib/python3.12/multiprocessing/process.py", line 108 in run
File "/usr/lib/python3.12/multiprocessing/process.py", line 314 in _bootstrap
File "/usr/lib/python3.12/multiprocessing/popen_fork.py", line 71 in _launch
File "/usr/lib/python3.12/multiprocessing/popen_fork.py", line 19 in init
File "/usr/lib/python3.12/multiprocessing/context.py", line 282 in _Popen
File "/usr/lib/python3.12/multiprocessing/process.py", line 121 in start
File "/usr/lib/python3.12/multiprocessing/pool.py", line 329 in _repopulate_pool_static
File "/usr/lib/python3.12/multiprocessing/pool.py", line 306 in _repopulate_pool
File "/usr/lib/python3.12/multiprocessing/pool.py", line 215 in init
File "/usr/lib/python3.12/multiprocessing/context.py", line 119 in Pool
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 589 in _try_initialize_processpool
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 197 in run_parallel
File "/usr/lib/python3/dist-packages/flake8/checker.py", line 236 in run
File "/usr/lib/python3/dist-packages/flake8/main/application.py", line 103 in run_checks
File "/usr/lib/python3/dist-packages/flake8/api/legacy.py", line 116 in check_files
File "/opt/ros/rolling/lib/python3.12/site-packages/ament_flake8/main.py", line 281 in generate_flake8_report
File "/opt/ros/rolling/lib/python3.12/site-packages/ament_flake8/main.py", line 88 in main_with_errors
File "/tmp/ws/src/ros2cli/ros2cli/test/test_flake8.py", line 22 in test_flake8
File "/usr/lib/python3/dist-packages/_pytest/python.py", line 194 in pytest_pyfunc_call
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/python.py", line 1792 in runtest
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 169 in pytest_runtest_call
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 262 in
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 341 in from_call
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 261 in call_runtest_hook
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 222 in call_and_report
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 133 in runtestprotocol
File "/usr/lib/python3/dist-packages/_pytest/runner.py", line 114 in pytest_runtest_protocol
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/main.py", line 350 in pytest_runtestloop
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/main.py", line 325 in _main
File "/usr/lib/python3/dist-packages/_pytest/main.py", line 271 in wrap_session
File "/usr/lib/python3/dist-packages/_pytest/main.py", line 318 in pytest_cmdline_main
File "/usr/lib/python3/dist-packages/pluggy/_callers.py", line 102 in _multicall
File "/usr/lib/python3/dist-packages/pluggy/_manager.py", line 119 in _hookexec
File "/usr/lib/python3/dist-packages/pluggy/_hooks.py", line 501 in call
File "/usr/lib/python3/dist-packages/_pytest/config/init.py", line 169 in main
File "/usr/lib/python3/dist-packages/_pytest/config/init.py", line 192 in console_main
File "/usr/lib/python3/dist-packages/pytest/main.py", line 5 in
File "", line 88 in _run_code
File "", line 198 in _run_module_as_main

Extension modules: yaml._yaml, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, psutil._psutil_linux, psutil._psutil_posix, rcl_interfaces.rcl_interfaces_s__rosidl_typesupport_c, builtin_interfaces.builtin_interfaces_s__rosidl_typesupport_c, service_msgs.service_msgs_s__rosidl_typesupport_c, type_description_interfaces.type_description_interfaces_s__rosidl_typesupport_c, test_msgs.test_msgs_s__rosidl_typesupport_c, action_msgs.action_msgs_s__rosidl_typesupport_c, unique_identifier_msgs.unique_identifier_msgs_s__rosidl_typesupport_c (total: 23)

+++++++++++++++++++++++++++++++++++ Timeout ++++++++++++++++++++++++++++++++++++

fujitatomoya · 2024-08-29T22:25:54Z

RHEL failure is missing result, that i am not sure what went wrong. I will retry RHEL CI.

Linux-rhel

about rpr job failure, that is segmentation fault during garbage-collecting, stack trace does not even include our fix...

fujitatomoya · 2024-08-29T22:26:14Z

@ros-pull-request-builder retest this please

Signed-off-by: Tomoya Fujita <[email protected]>

fujitatomoya · 2025-04-04T05:50:50Z

Pulls: #899
Gist: https://gist.githubusercontent.com/fujitatomoya/c61fee42b251cd145a7d34985f7111dd/raw/7c213d783aeaf42a98edf212c4bac3de36a636f0/ros2.repos
BUILD args: --packages-above-and-dependencies ros2run
TEST args: --packages-above ros2run
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15579

Linux
Linux-aarch64
Linux-rhel
Windows

fujitatomoya · 2025-04-04T05:51:33Z

@christophebedard @ahcorde can you take a look when you have time?

ros2run/ros2run/api/__init__.py

fujitatomoya requested review from audrow and gbiggs as code owners April 22, 2024 18:35

fujitatomoya mentioned this pull request Apr 22, 2024

Signal propagation by the ros2 run verb #895

Open

fujitatomoya commented Apr 22, 2024

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ros2run/ros2run/api/__init__.py Show resolved Hide resolved

ros2run/ros2run/api/__init__.py Show resolved Hide resolved

wjwwood mentioned this pull request May 16, 2024

Fix #666 handle SIGTERM ros2/launch#712

Open

fujitatomoya mentioned this pull request Jun 10, 2024

context.on_shutdown is never called ros2/rclpy#1287

Open

rafa-martin approved these changes Aug 3, 2024

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fujitatomoya force-pushed the fujitatomoya/20240422-ros2run-signal-handler branch from c999e25 to 6177388 Compare August 3, 2024 21:48

fujitatomoya force-pushed the fujitatomoya/20240422-ros2run-signal-handler branch from 6177388 to 0d30dda Compare August 22, 2024 17:29

sloretz assigned fujitatomoya Aug 29, 2024

fujitatomoya mentioned this pull request Sep 7, 2024

[Question] Use param server in docker containers and with docker compose fujitatomoya/ros2_persist_parameter_server#24

Closed

add signal handler SIGIN/SIGTERM to ros2run.

05a0f12

Signed-off-by: Tomoya Fujita <[email protected]>

fujitatomoya force-pushed the fujitatomoya/20240422-ros2run-signal-handler branch from 0d30dda to 05a0f12 Compare April 4, 2025 05:49

fujitatomoya requested review from ahcorde and christophebedard and removed request for audrow and gbiggs April 4, 2025 05:50

christophebedard reviewed Apr 4, 2025

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christophebedard approved these changes Apr 4, 2025

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fujitatomoya merged commit c8ed0ae into rolling Apr 5, 2025
2 of 3 checks passed

github-project-automation bot moved this from Todo to Done in Kilted Kaiju Apr 5, 2025

christophebedard deleted the fujitatomoya/20240422-ros2run-signal-handler branch April 5, 2025 17:50

add signal handler SIGIN/SIGTERM to ros2run. #899

add signal handler SIGIN/SIGTERM to ros2run. #899

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