Humble backport and new fixes (#154)

* Always publish inter-process on TRANSIENT_LOCAL pubs (#152) * Backport upstream Action fixes - ros2#2531 * Fix actions feedback race - ros2#2451 * Fix data race in Actions: Part 3 --------- Co-authored-by: Mauro Passerino <[email protected]>
irobot-ros · Aug 23, 2024 · eaeda0f · eaeda0f
1 parent c2acb19
commit eaeda0f
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Showing 4 changed files with 576 additions and 251 deletions.
diff --git a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
@@ -577,11 +577,14 @@ class IntraProcessManager
     auto server = get_matching_intra_process_action_server<ActionT>(ipc_action_client_id);
 
     if (server) {
+      {
+        std::unique_lock<std::shared_timed_mutex> lock(mutex_);
+        clients_uuid_to_id_[goal_id] = ipc_action_client_id;
+      }
+
       server->store_ipc_action_goal_request(
         ipc_action_client_id, std::move(goal_request));
 
-      std::unique_lock<std::shared_timed_mutex> lock(mutex_);
-      clients_uuid_to_id_[goal_id] = ipc_action_client_id;
       return true;
     }
     return false;

diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
@@ -351,7 +351,11 @@ class Publisher : public PublisherBase
     bool inter_process_publish_needed =
         get_subscription_count() > get_intra_process_subscription_count();
 
-    if (inter_process_publish_needed) {
+    // If the publisher is configured with transient local durability, we must publish
+    // inter-process. This ensures that the RMW stores the messages for late joiner subscriptions.
+    // This has the consequence of subscriptions experiencing the double-delivery issue
+    // mentioned in https://github.com/ros2/rclcpp/issues/1750
+    if (inter_process_publish_needed || buffer_) {
       auto ros_msg_ptr = std::make_shared<ROSMessageType>();
       // TODO(clalancette): This is unnecessarily doing an additional conversion
       // that may have already been done in do_intra_process_publish_and_return_shared().
@@ -363,11 +367,6 @@ class Publisher : public PublisherBase
         buffer_->add_shared(ros_msg_ptr);
       }
     } else {
-      if (buffer_) {
-        auto ros_msg_ptr = std::make_shared<ROSMessageType>();
-        rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
-        buffer_->add_shared(ros_msg_ptr);
-      }
       this->do_intra_process_publish(std::move(msg));
     }
   }