cartographer-project/cartographer

Clogged up work queue can delay destruction

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#1,721 opened on Jul 16, 2020

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enhancementhelp wanted

Description

If clients of libcartographer wish to abort all operations by destructing their Cartographer instance, this should happen immediately, and not result in blocking because of a filled up work queue in global SLAM. An example is the ROS node blocking on Ctrl-C, instead of exiting immediately.

Referencing closed https://github.com/cartographer-project/cartographer/pull/1446 as an incomplete proposal which needs further work.

Contributor guide

Tech stack
cpp
Domain
backendperformance
Issue type
bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
4
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
3-5 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
C++ programmingwork queue patternslibcartographer internalsmultithreading
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
25
Research direction
Examine the referenced work in PR #1446, which was an incomplete proposal. Focus on modifying the destruction sequence of the Cartographer instance to ensure the work queue is flushed or cancelled rather than allowing it to block. Key areas to investigate include the global SLAM work queue mechanism and the destructor logic in the relevant source files.
Clogged up work queue can delay destruction · cartographer-project/cartographer#1721 | Good First Issue