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Fail a running goal whose action server has disappeared - #1
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A RosActionNode whose action server crashed or was restarted while its goal ran stayed RUNNING for ever: the result could never arrive. A tree that starts an action only when it is not already running then never started it again. Seen on Reachy Mini: restarting the gaze server left the controller's gaze tracking dead until the controller was restarted. While running, the node now checks that the server is still there; gone for longer than server_timeout (so a discovery hiccup does not count), the goal fails with SERVER_UNREACHABLE.
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RosActionNodewhose action server crashed or was restarted while its goal ran stayed RUNNING for ever: the result could never arrive. A tree that starts an action only when it is not already running then never started it again.Seen on Reachy Mini: restarting the gaze server left the controller's gaze tracking dead until the controller itself was restarted.
Change. While running, the node checks that the server is still there. When it has been gone for longer than
server_timeout(so a discovery hiccup does not count), the goal fails withSERVER_UNREACHABLE, and the tree can start it again on the new server.Tested. With the controller on an isolated ROS domain and a fake gaze server restarted mid-goal: the goal failed, and tracking resumed on the new server within a second.
Known limit. A server that crashes hard and comes back within the DDS lease (about 20 s) is not seen as gone.