Fix a bug when using multiple rclpy.init context managers. #1314
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That is, if you call rclpy.init as a context manager within the same process, and using the default context, it currently fails. That is because you cannot reinitialize (call init) on a Context object once it has been shutdown. Instead, force try_shutdown to replace the global context object with a new one on rclpy.init shutdown by passing a None. Signed-off-by: Chris Lalancette <[email protected]>
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CI:
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ahcorde
approved these changes
Jul 12, 2024
sloretz
approved these changes
Jul 12, 2024
fujitatomoya
approved these changes
Jul 19, 2024
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@clalancette can you check windows failure? seems unrelated to me. |
Yeah, it is unrelated, and it's a known flake. Going ahead and merging this one, thanks for the reviews! |
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That is, if you call rclpy.init as a context manager within the same process, and using the default context, it currently fails. That is because you cannot reinitialize (call init) on a Context object once it has been shutdown. Instead, force try_shutdown to replace the global context object with a new one on rclpy.init shutdown by passing a None.
This should fix some failing tests on the repeated jobs, like https://ci.ros2.org/view/nightly/job/nightly_linux_repeated/3516/testReport/junit/test_launch_ros.test.test_launch_ros.actions/test_ros_timer/test_timer_uses_sim_time_2_3_/
@Crola1702 FYI