Wait Set Index Too Big

[gkuppa24]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • binaries
• Version or commit hash: Humble
• DDS implementation: cyclone_dds
• Client library (if applicable): rclpy

Steps to reproduce issue

Traceback (most recent call last):
  File "/home/gauravkuppa24/.cache/bazel/_bazel_gauravkuppa24/0f5b194a5c00fda748ae81b2326da879/execroot/baserepo4/bazel-out/k8-fastbuild/bin/robot/task/task_manager/launch_high_level_planner/launch_high_level_planner.runfiles/baserepo4/robot/hardware/easo/lib/single_arm_node.py", line 659, in request_collision_cuboid_update
    self.executor.spin_until_future_complete(self.future,
  File "/home/gauravkuppa24/.cache/bazel/_bazel_gauravkuppa24/0f5b194a5c00fda748ae81b2326da879/execroot/baserepo4/bazel-out/k8-fastbuild/bin/robot/task/task_manager/launch_high_level_planner/launch_high_level_planner.runfiles/baserepo4/external/ros2_rclpy/rclpy/rclpy/executors.py", line 310, in spin_until_future_complete
    self.spin_once_until_future_complete(future, timeout_left)
  File "/home/gauravkuppa24/.cache/bazel/_bazel_gauravkuppa24/0f5b194a5c00fda748ae81b2326da879/execroot/baserepo4/bazel-out/k8-fastbuild/bin/robot/task/task_manager/launch_high_level_planner/launch_high_level_planner.runfiles/baserepo4/external/ros2_rclpy/rclpy/rclpy/executors.py", line 801, in spin_once_until_future_complete
    self._spin_once_impl(timeout_sec, future.done)
  File "/home/gauravkuppa24/.cache/bazel/_bazel_gauravkuppa24/0f5b194a5c00fda748ae81b2326da879/execroot/baserepo4/bazel-out/k8-fastbuild/bin/robot/task/task_manager/launch_high_level_planner/launch_high_level_planner.runfiles/baserepo4/external/ros2_rclpy/rclpy/rclpy/executors.py", line 775, in _spin_once_impl
    handler, entity, node = self.wait_for_ready_callbacks(
  File "/home/gauravkuppa24/.cache/bazel/_bazel_gauravkuppa24/0f5b194a5c00fda748ae81b2326da879/execroot/baserepo4/bazel-out/k8-fastbuild/bin/robot/task/task_manager/launch_high_level_planner/launch_high_level_planner.runfiles/baserepo4/external/ros2_rclpy/rclpy/rclpy/executors.py", line 711, in wait_for_ready_callbacks
    return next(self._cb_iter)
  File "/home/gauravkuppa24/.cache/bazel/_bazel_gauravkuppa24/0f5b194a5c00fda748ae81b2326da879/execroot/baserepo4/bazel-out/k8-fastbuild/bin/robot/task/task_manager/launch_high_level_planner/launch_high_level_planner.runfiles/baserepo4/external/ros2_rclpy/rclpy/rclpy/executors.py", line 630, in _wait_for_ready_callbacks
    if wt in waitables and wt.is_ready(wait_set):
  File "/home/gauravkuppa24/.cache/bazel/_bazel_gauravkuppa24/0f5b194a5c00fda748ae81b2326da879/execroot/baserepo4/bazel-out/k8-fastbuild/bin/robot/task/task_manager/launch_high_level_planner/launch_high_level_planner.runfiles/ros2_rclpy/rclpy/rclpy/qos_event.py", line 90, in is_ready
    if wait_set.is_ready('event', self._event_index):
IndexError: wait set index too big

Expected behavior

Actual behavior

Additional information

I cannot provide the code I am using to allow you to reproduce this bug, but it is a rclpy process that has a single MultiThreadedExecutor. The executor spins three nodes, and always gets hung up on this self.executor.spin_until_future_complete(self.future) with a wait set index bug.

Any advice on how to approach this problem would be much appreciated.

---

Feature request

Feature description

Implementation considerations

[Barry-Xu-2018]

Could you try using FastDDS (instead of cyclone_dds) to check if the problem still occurs in your environment ?

[gkuppa24]

Sure. I can give this a shot. Would service call would cause a QoS event added to the wait set? This seems to be the source of the bug.

[gkuppa24]

Neither cyclone_dds or fastrtps_cpp works.