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Fix lifecycle manager deadlock during shutdown #5438

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Merged
SteveMacenski merged 2 commits into from
Aug 11, 2025
Merged

Fix lifecycle manager deadlock during shutdown #5438

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0a48fa4
Fix lifecycle manager deadlock during shutdown
claude[bot] Aug 11, 2025
913840f
Update service_client.hpp
SteveMacenski Aug 11, 2025
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10 changes: 10 additions & 0 deletions nav2_ros_common/include/nav2_ros_common/service_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -218,6 +218,16 @@ 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_;
rclcpp::Clock::SharedPtr clock_;
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6 changes: 6 additions & 0 deletions nav2_util/include/nav2_util/lifecycle_service_client.hpp
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Expand Up @@ -57,6 +57,12 @@ class LifecycleServiceClient
}
}

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

/// Trigger a state change
/**
* Throws std::runtime_error on failure
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