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[moveit_ros] fix race condition when stopping trajectory execution (backport #3198) #3239

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merged 2 commits into from
Jan 12, 2025
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[moveit_ros] fix race condition when stopping trajectory execution (backport #3198) #3239

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[moveit_ros] fix race condition when stopping trajectory execution (#…
patrickKXMD Jan 12, 2025
196d2fc
Resolve conflicts
sea-bass Jan 12, 2025
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11 changes: 9 additions & 2 deletions moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1316,6 +1316,7 @@ void TrajectoryExecutionManager::clear()
{
if (execution_complete_)
{
std::scoped_lock slock(execution_state_mutex_);
for (TrajectoryExecutionContext* trajectory : trajectories_)
delete trajectory;
trajectories_.clear();
Expand All @@ -1329,7 +1330,7 @@ void TrajectoryExecutionManager::clear()
}
}
else
RCLCPP_ERROR(LOGGER, "Cannot push a new trajectory while another is being executed");
RCLCPP_FATAL(LOGGER, "Expecting execution_complete_ to be true!");
}

void TrajectoryExecutionManager::executeThread(const ExecutionCompleteCallback& callback,
Expand Down Expand Up @@ -1365,7 +1366,13 @@ void TrajectoryExecutionManager::executeThread(const ExecutionCompleteCallback&

// only report that execution finished successfully when the robot actually stopped moving
if (last_execution_status_ == moveit_controller_manager::ExecutionStatus::SUCCEEDED)
waitForRobotToStop(*trajectories_[i - 1]);
{
std::scoped_lock slock(execution_state_mutex_);
if (!execution_complete_)
{
waitForRobotToStop(*trajectories_[i - 1]);
}
}

RCLCPP_INFO(LOGGER, "Completed trajectory execution with status %s ...", last_execution_status_.asString().c_str());

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