Fix logger node teardown before RMW shutdown - #3833
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Signed-off-by: Dennis Lanov <dennis.lanov@gmail.com>
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Included review availability: Your plan provides up to 10 included reviews per hour; 9 remain after this review. 📝 WalkthroughWalkthroughThe logger now synchronizes node access with a shared mutex and resets the node during context pre-shutdown. It falls back safely after node reset and preserves existing loggers. Tests cover shutdown races, cleanup, repeated use, and pre-initialization behavior. ChangesLogger lifecycle safety
Estimated code review effort: 3 (Moderate) | ~20 minutes Merge Risk: ⚪ Minimal · up to The change resets logger nodes before RMW shutdown to prevent teardown-time process aborts, with targeted regression tests and validation reported as passing; no actionable merge-blocking risk remains beyond normal checks and review. Sequence Diagram(s)sequenceDiagram
participant Application
participant LoggerAPI
participant LoggerNode
participant ROS2Context
Application->>LoggerAPI: configure or request logger
LoggerAPI->>LoggerNode: lock mutex and read node
alt node exists
LoggerNode-->>LoggerAPI: provide node logger
else node was reset
LoggerAPI-->>Application: provide fallback logger
end
ROS2Context->>LoggerNode: invoke pre-shutdown reset
LoggerNode->>LoggerNode: lock mutex and clear node
Application->>LoggerAPI: use existing logger after shutdown
LoggerAPI-->>Application: retain logger name and logging access
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
Full details: Linked Issues checkExplanation The changes directly address issue Full details: Docstring CoverageExplanation Docstring coverage is 66.67% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 12 functions across 4 files. (1 skipped: 1 unsupported.)
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## main #3833 +/- ##
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+ Coverage 48.74% 48.79% +0.06%
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Files 730 733 +3
Lines 62497 62588 +91
Branches 7610 7611 +1
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rhaschke
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Nice contribution. I have a few remarks and questions though.
And there seems to be a regression on Jazzy with it.
Signed-off-by: Dennis Lanov <dennis.lanov@gmail.com>
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Inline comments:
In `@moveit_core/utils/src/logger.cpp`:
- Around line 64-65: In the logger initialization flow after
registerNodeResetOnPreShutdown creates s_mutex, lock s_mutex before the first
moveit_node read and check whether the callback reset it; if so, return the
existing non-node logger fallback instead of dereferencing it. Preserve the
normal moveit_node->get_logger() path when the node remains available.
In `@moveit_core/utils/test/test_logger.cpp`:
- Around line 48-56: Run FallsBackToNonNodeLoggerBeforeInit in an isolated test
process so SafeAcrossExplicitShutdown cannot initialize the function-local
static returned by getGlobalRootLogger() first; remove the reliance on
GoogleTest definition order while preserving the fallback test’s validation of
behavior before rclcpp::init().
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📒 Files selected for processing (4)
moveit_core/utils/src/logger.cppmoveit_core/utils/src/logger_detail.hppmoveit_core/utils/test/CMakeLists.txtmoveit_core/utils/test/test_logger.cpp
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- moveit_core/utils/test/CMakeLists.txt
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Signed-off-by: Dennis Lanov <dennis.lanov@gmail.com>
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Thanks for the review. I addressed the three comments and the subsequent race/test-isolation findings. The earlier Jazzy failure was from the clang-tidy delta lane: the new function-local statics needed MoveIt's required s_ prefix. Local Jazzy validation now passes, including the lifecycle tests, isolated pre-init fallback test, existing /rosout test, and repeated runs with rmw_zenoh_cpp. The new GitHub Actions runs are currently waiting for fork-workflow approval. |
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Inline comments:
In `@moveit_core/utils/test/CMakeLists.txt`:
- Around line 21-22: Update the ament_add_gtest declaration for
test_logger_before_init to set SKIP_LINKING_MAIN_LIBRARIES, since
test_logger_before_init.cpp provides its own main function; leave the existing
moveit_utils linkage unchanged.
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moveit_core/utils/src/logger.cppmoveit_core/utils/test/CMakeLists.txtmoveit_core/utils/test/test_logger.cppmoveit_core/utils/test/test_logger_before_init.cpp
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I don't think that was the issue. test_controller_manager_plugin fails with error code -11: |
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Description
Fixes #3827.
MoveIt's logger helpers keep internal
rclcpp::Nodeinstances alive as function-local statics. Those nodes were destroyed during process teardown, afterrclcpp::shutdown()had already shut down the RMW context.With
rmw_zenoh_cpp, the late node destruction calls back into Zenoh after its runtime has been torn down and aborts the process.This change registers a pre-shutdown callback on each logger node's own
rclcpp::Contextand resets the node beforercl_shutdown()runs.The callback does not retain the node: it references the caller-owned static node slot and weakly holds the synchronization guard, avoiding a
Context -> callback -> Node -> Contextownership cycle and keeping static teardown safe when shutdown is not called explicitly.Existing logger naming and normal
/rosoutbehavior before shutdown are preserved. The copiedrclcpp::Loggerremains valid after its node is reset; the node-owned/rosoutpublisher is torn down during pre-shutdown.Regression coverage verifies:
setNodeLoggerName()is safe across explicit shutdown;rclcpp::init()fallback remains unchanged.Validation with ROS 2 Jazzy and
rmw_zenoh_cpp0.2.9:SetNodeLoggerNameTest.SafeAcrossExplicitShutdownpasses underrmw_zenoh_cpprmw_zenoh_cpptest-node_logging/rosoutlaunch test passes underrmw_zenoh_cpptest_logger,test_logger_before_init, andtest-node_loggingcolcon build --packages-select moveit_core --symlink-install --cmake-args -DBUILD_TESTING=ONpassesgit diff --checkpassesChecklist
Summary by CodeRabbit
Bug Fixes
Tests