Destroying a publisher stops all publishers to that topic

[osrf-migration]

Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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1. Create publisher aPub to topic A

2. Create publisher aPub2 to topic A

3. Destroy aPub and do gz topic -i A, no publishers will show. Try to publish with aPub2 and it doesn't publish.

4. Create publisher aPub3 to topic A and do gz topic -i A, now a publisher will show. Try to publish with aPub2 and now it publishes, as well as aPub3.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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We could extend the INTEGRATION_transport test to include this case. There are several tests involving multiple publishers.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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Argh, found the problem. We're unadvertizing a topic whenever we unadvertize one of its publishers at TopicManager::Unadvertise(PublisherPtr _pub).

I'll see if I can write a simple test for this. I wonder if it's worth it at this point, I don't fully understand how the integration with ign-transport will be made.

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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I wonder if we're noticing the problem now because of pull request #1951 (backported to gazebo5/6 in pull request #1964)?

I haven't debugged it fully, so I'm not sure if it's related, but I'm experiencing a problem with loading gzclient with robonaut on the current gazebo6 branch. If I revert to the 6.5.1 tag, it's ok, so I think it might be related to those pull requests.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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I think the problem I described is not related to the pull requests you mentioned. (I discovered this while implementing undo)

My problem is fixed it with this patch:

diff -r 642bc5ebbca12e4a9ad67d16ca99e3be48a45476 gazebo/transport/Publisher.cc
--- a/gazebo/transport/Publisher.cc	Wed Nov 11 15:43:41 2015 -0800
+++ b/gazebo/transport/Publisher.cc	Thu Nov 12 15:21:49 2015 -0800
@@ -254,8 +254,7 @@
   if (!this->messages.empty())
     this->SendMessage();
 
-  if (!this->topic.empty())
-    TopicManager::Instance()->Unadvertise(this->topic);
+  TopicManager::Instance()->Unadvertise(shared_from_this());
 
   common::Time slept;
 
diff -r 642bc5ebbca12e4a9ad67d16ca99e3be48a45476 gazebo/transport/Publisher.hh
--- a/gazebo/transport/Publisher.hh	Wed Nov 11 15:43:41 2015 -0800
+++ b/gazebo/transport/Publisher.hh	Thu Nov 12 15:21:49 2015 -0800
@@ -41,6 +41,7 @@
     /// \class Publisher Publisher.hh transport/transport.hh
     /// \brief A publisher of messages on a topic
     class GZ_TRANSPORT_VISIBLE Publisher
+      : public boost::enable_shared_from_this<Publisher>
     {
       /// \brief Constructor
       /// \param[in] _topic Name of topic to be published
diff -r 642bc5ebbca12e4a9ad67d16ca99e3be48a45476 gazebo/transport/TopicManager.cc
--- a/gazebo/transport/TopicManager.cc	Wed Nov 11 15:43:41 2015 -0800
+++ b/gazebo/transport/TopicManager.cc	Thu Nov 12 15:21:49 2015 -0800
@@ -412,7 +412,7 @@
     if (publication)
       publication->RemovePublisher(_pub);
 
-    this->Unadvertise(_pub->GetTopic());
+//    this->Unadvertise(_pub->GetTopic());
   }
 }

[osrf-migration]

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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@scpeters does the robonaut take forever to load? it could be related to the refactoring done on ArrowVisual class in pull request #1967.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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@iche033 you are right, my problem is fixed by pull request #1967. sorry for the noise @chapulina

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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Pull request #2005

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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• changed state from "new" to "resolved"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "resolved" to "closed"