EventsExecutor misses one-shot-timer and never executes it again.

オープン

#2,803 2025年4月11日に作成コメント 3 件リアクション 0 件担当者 1 名 GitHub で見る

メンテナーはふだん 1 日以内に返信

@jmachowinski がすでに取り組んでいます。

2025年4月24日から。

評価

この issue はまだ評価されていません。

説明

bug

Operating System:

Linux robin-zeal 6.9.3-76060903-generic #202405300957~1732141768~22.04~f2697e1~dev-Ubuntu SMP PREEMPT_DY x86_64 x86_64 x86_64 GNU/Linux

ROS version or commit hash:

jazzy

RMW implementation (if applicable):

rmw_zenoh_cpp

RMW Configuration (if applicable):

No response

Client library (if applicable):

rclcpp

'ros2 doctor --report' output

ros2 doc --report

<COPY OUTPUT HERE>

Steps to reproduce issue

Run this code

#include <chrono>
#include <memory>

#include <rclcpp/rclcpp.hpp>

using namespace std::chrono_literals;

class ExecutorBugNode : public rclcpp::Node
{
public:
  ExecutorBugNode()
  : Node("executor_bug_node")
  {
    wall_timer_ = create_wall_timer(
      50ms, std::bind(&ExecutorBugNode::wall_timer_callback, this));
  }

private:
  void
  wall_timer_callback()
  {
    if (counter_ < 100) {
      std::this_thread::sleep_for(40ms);
      counter_++;
    } else {
      RCLCPP_INFO(get_logger(), "Sleep stopped");
    }

    if (!one_shot_timer_) {
      one_shot_timer_ = create_wall_timer(
        0s, std::bind(&ExecutorBugNode::one_shot_timer_callback, this));
    } else {
      RCLCPP_INFO(get_logger(), "One-shot timer already exists. Skipping creation.");
    }
  }

  void
  one_shot_timer_callback()
  {
    RCLCPP_INFO(get_logger(), "--- One-shot timer callback triggered! ---");
    if (one_shot_timer_) {
      one_shot_timer_->cancel();
      one_shot_timer_.reset();
    }
  }

  size_t counter_ = 0;
  rclcpp::TimerBase::SharedPtr wall_timer_;
  rclcpp::TimerBase::SharedPtr one_shot_timer_;
};


int
main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  auto node = std::make_shared<ExecutorBugNode>();
  rclcpp::experimental::executors::EventsExecutor executor;
  executor.add_node(node);
  executor.spin();
  executor.remove_node(node);
  rclcpp::shutdown();
  return 0;
}

Expected behavior

The one-shot timer callback should be called every time, or at least every time after the sleep part ends.

Actual behavior

The one-shot timer callback gets called a few times at the start, then it never gets called again even after the sleep part ends.

Additional information

The sleep is there because the event seems to be missed only when the executor takes a while handling other things. Once the event is missed, it is stuck forever.
On the single-threaded executor the callback gets called every single time, it never skips creation.

[INFO] [2025-04-11 07:26:04.146] [executor_bug_node]: --- One-shot timer callback triggered! ---
[INFO] [2025-04-11 07:26:04.196] [executor_bug_node]: --- One-shot timer callback triggered! ---
[INFO] [2025-04-11 07:26:04.246] [executor_bug_node]: --- One-shot timer callback triggered! ---
[INFO] [2025-04-11 07:26:04.346] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.396] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.446] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.496] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.546] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.596] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.646] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.696] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.746] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.796] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.846] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.896] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.946] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:04.995] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.462] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.962] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.146] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.196] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.246] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.295] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.346] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.396] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.445] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.496] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.546] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.596] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.646] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.696] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.746] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.796] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.846] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.896] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.946] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:05.996] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.460] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.961] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.146] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.196] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.245] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.296] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.346] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.395] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.446] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.496] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.545] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.596] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.646] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.696] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.746] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.796] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.846] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.896] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.946] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:06.995] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.460] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.960] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.146] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.196] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.246] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.296] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.346] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.396] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.445] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.496] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.546] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.596] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.646] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.696] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.746] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.796] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.846] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.896] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.946] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:07.996] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.458] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.958] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.145] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.196] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.246] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.295] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.346] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.396] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.445] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.495] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.546] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.596] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.646] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.695] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.745] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.796] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.846] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.896] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.946] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:08.996] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.458] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.959] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.105] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.105] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.155] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.155] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.205] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.205] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.255] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.256] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.305] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.306] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.355] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.355] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.405] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.405] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.455] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.456] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.505] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.505] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.555] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.556] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.605] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.606] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.655] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.656] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.705] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.706] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.755] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.756] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.805] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.806] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.855] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.856] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.906] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.906] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:09.955] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:09.955] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:10.589] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:10.601] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:10.558] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:10.559] [executor_bug_node]: One-shot timer already exists. Skipping creation.
[INFO] [2025-04-11 07:26:10.105] [executor_bug_node]: Sleep stopped
[INFO] [2025-04-11 07:26:10.106] [executor_bug_node]: One-shot timer already exists. Skipping creation.
....

主要言語: C++
スター: 814
フォーク: 572
平均マージ: 5日 3時間
マージ済み PR（30日）: 17

環境構築

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はじめの一歩

issue を最後まで読み、次にプロジェクトのコントリビューションガイドを読みます。
着手することを issue にコメントします — 二人が同じ作業をするのを防げます。
リポジトリをフォークし、ブランチを切って変更します。
issue 番号を参照したプルリクエストを送ります。

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drawpile/Drawpile#1600 · 2026年10月12日に作成

C++ の issue をもっと見る

EventsExecutor misses one-shot-timer and never executes it again.

何か問題がありますか？

評価

説明

Operating System:

ROS version or commit hash:

RMW implementation (if applicable):

RMW Configuration (if applicable):

Client library (if applicable):

'ros2 doctor --report' output

Steps to reproduce issue

Expected behavior

Actual behavior

Additional information

環境構築

はじめの一歩

ros2/rclcpp のほかの issue

何か問題がありますか？

何か問題がありますか？

何か問題がありますか？

何か問題がありますか？

何か問題がありますか？

似ている issue

何か問題がありますか？

何か問題がありますか？

何か問題がありますか？

何か問題がありますか？

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