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move_group_interface: make async callbacks safe and track active goal handles #3618

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120 changes: 90 additions & 30 deletions moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,8 @@
#include <stdexcept>
#include <sstream>
#include <memory>
#include <mutex>
#include <atomic>

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/version.h>
Expand Down Expand Up @@ -213,6 +215,23 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
if (constraints_init_thread_)
constraints_init_thread_->join();

// Attempt to cancel any active goals to avoid callbacks accessing destroyed state
try
{
std::lock_guard<std::mutex> sl(active_goal_mutex_);
if (move_action_client_ && active_move_goal_handle_)
{
move_action_client_->async_cancel_goal(active_move_goal_handle_);
}
if (execute_action_client_ && active_execute_goal_handle_)
{
execute_action_client_->async_cancel_goal(active_execute_goal_handle_);
}
}
catch (...)
{
}

callback_executor_.cancel();

if (callback_thread_.joinable())
Expand Down Expand Up @@ -671,26 +690,38 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
goal.planning_options.planning_scene_diff.is_diff = true;
goal.planning_options.planning_scene_diff.robot_state.is_diff = true;

bool done = false;
rclcpp_action::ResultCode code = rclcpp_action::ResultCode::UNKNOWN;
std::shared_ptr<moveit_msgs::action::MoveGroup::Result> res;
struct PlanState
{
std::atomic<bool> done{false};
rclcpp_action::ResultCode code = rclcpp_action::ResultCode::UNKNOWN;
std::shared_ptr<moveit_msgs::action::MoveGroup::Result> res;
};
auto state = std::make_shared<PlanState>();
auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::MoveGroup>::SendGoalOptions();

send_goal_opts.goal_response_callback =
[&](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr& goal_handle) {
[this, state](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr& goal_handle) {
if (!goal_handle)
{
done = true;
state->done = true;
RCLCPP_INFO(logger_, "Planning request rejected");
}
else
{
RCLCPP_INFO(logger_, "Planning request accepted");
std::lock_guard<std::mutex> sl(active_goal_mutex_);
active_move_goal_handle_ = goal_handle;
}
};
send_goal_opts.result_callback =
[&](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::WrappedResult& result) {
res = result.result;
code = result.code;
done = true;
[this, state](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::WrappedResult& result) {
state->res = result.result;
state->code = result.code;
{
std::lock_guard<std::mutex> sl(active_goal_mutex_);
active_move_goal_handle_.reset();
}
state->done = true;

switch (result.code)
{
Expand All @@ -712,7 +743,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
auto goal_handle_future = move_action_client_->async_send_goal(goal, send_goal_opts);

// wait until send_goal_opts.result_callback is called
while (!done)
while (!state->done)
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
Expand Down Expand Up @@ -748,26 +779,38 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
goal.planning_options.planning_scene_diff.is_diff = true;
goal.planning_options.planning_scene_diff.robot_state.is_diff = true;

bool done = false;
rclcpp_action::ResultCode code = rclcpp_action::ResultCode::UNKNOWN;
std::shared_ptr<moveit_msgs::action::MoveGroup_Result> res;
struct MoveState
{
std::atomic<bool> done{false};
rclcpp_action::ResultCode code = rclcpp_action::ResultCode::UNKNOWN;
std::shared_ptr<moveit_msgs::action::MoveGroup_Result> res;
};
auto state = std::make_shared<MoveState>();
auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::MoveGroup>::SendGoalOptions();

send_goal_opts.goal_response_callback =
[&](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr& goal_handle) {
[this, state](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr& goal_handle) {
if (!goal_handle)
{
done = true;
state->done = true;
RCLCPP_INFO(logger_, "Plan and Execute request rejected");
}
else
{
RCLCPP_INFO(logger_, "Plan and Execute request accepted");
std::lock_guard<std::mutex> sl(active_goal_mutex_);
active_move_goal_handle_ = goal_handle;
}
};
send_goal_opts.result_callback =
[&](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::WrappedResult& result) {
res = result.result;
code = result.code;
done = true;
[this, state](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::WrappedResult& result) {
state->res = result.result;
state->code = result.code;
{
std::lock_guard<std::mutex> sl(active_goal_mutex_);
active_move_goal_handle_.reset();
}
state->done = true;

switch (result.code)
{
Expand All @@ -790,7 +833,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
return moveit::core::MoveItErrorCode::SUCCESS;

// wait until send_goal_opts.result_callback is called
while (!done)
while (!state->done)
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
Expand All @@ -811,26 +854,38 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
return moveit::core::MoveItErrorCode::FAILURE;
}

bool done = false;
rclcpp_action::ResultCode code = rclcpp_action::ResultCode::UNKNOWN;
std::shared_ptr<moveit_msgs::action::ExecuteTrajectory_Result> res;
struct ExecuteState
{
std::atomic<bool> done{false};
rclcpp_action::ResultCode code = rclcpp_action::ResultCode::UNKNOWN;
std::shared_ptr<moveit_msgs::action::ExecuteTrajectory_Result> res;
};
auto state = std::make_shared<ExecuteState>();
auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::ExecuteTrajectory>::SendGoalOptions();

send_goal_opts.goal_response_callback =
[&](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::SharedPtr& goal_handle) {
[this, state](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::SharedPtr& goal_handle) {
if (!goal_handle)
{
done = true;
state->done = true;
RCLCPP_INFO(logger_, "Execute request rejected");
}
else
{
RCLCPP_INFO(logger_, "Execute request accepted");
std::lock_guard<std::mutex> sl(active_goal_mutex_);
active_execute_goal_handle_ = goal_handle;
}
};
send_goal_opts.result_callback =
[&](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::WrappedResult& result) {
res = result.result;
code = result.code;
done = true;
[this, state](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::WrappedResult& result) {
state->res = result.result;
state->code = result.code;
{
std::lock_guard<std::mutex> sl(active_goal_mutex_);
active_execute_goal_handle_.reset();
}
state->done = true;

switch (result.code)
{
Expand Down Expand Up @@ -858,7 +913,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
return moveit::core::MoveItErrorCode::SUCCESS;

// wait until send_goal_opts.result_callback is called
while (!done)
while (!state->done)
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
Expand Down Expand Up @@ -1223,6 +1278,11 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
// std::shared_ptr<rclcpp_action::Client<moveit_msgs::action::Place>> place_action_client_;
std::shared_ptr<rclcpp_action::Client<moveit_msgs::action::ExecuteTrajectory>> execute_action_client_;

// Active goal handles (protected by mutex). Stored so they can be cancelled on destruction
std::mutex active_goal_mutex_;
rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr active_move_goal_handle_;
rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::SharedPtr active_execute_goal_handle_;

// general planning params
moveit_msgs::msg::RobotState considered_start_state_;
moveit_msgs::msg::WorkspaceParameters workspace_parameters_;
Expand Down