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Fix lifecycle manager deadlock during shutdown #5448

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Merged
merged 1 commit into from
Aug 14, 2025
Merged

Fix lifecycle manager deadlock during shutdown #5448

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6 changes: 6 additions & 0 deletions nav2_util/include/nav2_util/lifecycle_service_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,12 @@ class LifecycleServiceClient
const std::string & lifecycle_node_name,
rclcpp::Node::SharedPtr parent_node);

~LifecycleServiceClient()
{
change_state_.stop();
get_state_.stop();
}

/// Trigger a state change
/**
* Throws std::runtime_error on failure
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10 changes: 10 additions & 0 deletions nav2_util/include/nav2_util/service_client.hpp
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Expand Up @@ -145,6 +145,16 @@ class ServiceClient
return service_name_;
}

/**
* @brief Stop any running spin operations on the internal executor
*/
void stop()
{
if (client_) {
callback_group_executor_.cancel();
}
}

protected:
std::string service_name_;
NodeT node_;
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