Apply expire thread fix for events executors from jazzy to rolling#3012
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skyegalaxy wants to merge 2 commits intoros2:rollingfrom
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Apply expire thread fix for events executors from jazzy to rolling#3012skyegalaxy wants to merge 2 commits intoros2:rollingfrom
skyegalaxy wants to merge 2 commits intoros2:rollingfrom
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* feat: Add ClockWaiter and ClockConditionalVariable Added two new synchronization primitives to perform waits using an rclcpp::Clock. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * fix: Fixed expiring of goals if events executor is used This commit is only relevant if the events executor is used. This commit starts a background thread, to create events for the expire timer of the action. Without this the action server will not expire old goal results leading to memory and performance issues. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> --------- Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>
…mer (ros2#2800) This fixes a bug, that the expire action thread would not sleep as, the sleep duration was not computed correctly. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>
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There is a fix in rolling that works completely different than the version in jazzy. We will need to check though why it's not working... |
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Closed in favor of #3018 |
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Description
In the long actions ram usage section of the benchmarks iRobot shared back in September, there was a memory leak identified in rolling for both the EventsExecutor implementations. I did some deeper profiling and found that it was the result of expired goal results never being cleared out.
As it turns out, there were fixes for this merged directly into the jazzy branch back in March, but it appears that they never made their way to rolling.
With the relevant commits cherry-picked, here's the results:
Is this user-facing behavior change?
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