{"action":"created","issue":{"url":"https://api.github.com/repos/strands-project/strands_navigation/issues/269","labels_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/269/labels{/name}","comments_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/269/comments","events_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/269/events","html_url":"https://github.com/strands-project/strands_navigation/issues/269","id":103738659,"number":269,"title":"racing condition in execute_policy_server __init__","user":{"login":"marc-hanheide","id":1153084,"avatar_url":"https://avatars.githubusercontent.com/u/1153084?v=3","gravatar_id":"","url":"https://api.github.com/users/marc-hanheide","html_url":"https://github.com/marc-hanheide","followers_url":"https://api.github.com/users/marc-hanheide/followers","following_url":"https://api.github.com/users/marc-hanheide/following{/other_user}","gists_url":"https://api.github.com/users/marc-hanheide/gists{/gist_id}","starred_url":"https://api.github.com/users/marc-hanheide/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marc-hanheide/subscriptions","organizations_url":"https://api.github.com/users/marc-hanheide/orgs","repos_url":"https://api.github.com/users/marc-hanheide/repos","events_url":"https://api.github.com/users/marc-hanheide/events{/privacy}","received_events_url":"https://api.github.com/users/marc-hanheide/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":{"login":"Jailander","id":5035967,"avatar_url":"https://avatars.githubusercontent.com/u/5035967?v=3","gravatar_id":"","url":"https://api.github.com/users/Jailander","html_url":"https://github.com/Jailander","followers_url":"https://api.github.com/users/Jailander/followers","following_url":"https://api.github.com/users/Jailander/following{/other_user}","gists_url":"https://api.github.com/users/Jailander/gists{/gist_id}","starred_url":"https://api.github.com/users/Jailander/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jailander/subscriptions","organizations_url":"https://api.github.com/users/Jailander/orgs","repos_url":"https://api.github.com/users/Jailander/repos","events_url":"https://api.github.com/users/Jailander/events{/privacy}","received_events_url":"https://api.github.com/users/Jailander/received_events","type":"User","site_admin":false},"milestone":null,"comments":7,"created_at":"2015-08-28T15:22:33Z","updated_at":"2015-11-26T16:41:59Z","closed_at":"2015-11-26T11:20:10Z","body":"in [execute_policy_server.py#L116](https://github.com/strands-project/strands_navigation/blob/indigo-devel/topological_navigation/scripts/execute_policy_server.py#L116) you are getting the list of all navigation services. This assumes that the services are already there. If `move_base` is not there yet, the call to reconfigure it fails with an [exception](https://github.com/strands-project/strands_navigation/blob/indigo-devel/topological_navigation/scripts/execute_policy_server.py#L611).\r\n\r\nThe proper solution is a lazy init on the reconf clients and if they have not yet been found in the services, search for them and only throw exception when they cannot be found then.\r\n\r\nThis racing condition shows up, because we are starting nav2d and mdp nav in one launch file. A work around would be to start nav2d separately first (not a solution!)."},"comment":{"url":"https://api.github.com/repos/strands-project/strands_navigation/issues/comments/159956762","html_url":"https://github.com/strands-project/strands_navigation/issues/269#issuecomment-159956762","issue_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/269","id":159956762,"user":{"login":"Jailander","id":5035967,"avatar_url":"https://avatars.githubusercontent.com/u/5035967?v=3","gravatar_id":"","url":"https://api.github.com/users/Jailander","html_url":"https://github.com/Jailander","followers_url":"https://api.github.com/users/Jailander/followers","following_url":"https://api.github.com/users/Jailander/following{/other_user}","gists_url":"https://api.github.com/users/Jailander/gists{/gist_id}","starred_url":"https://api.github.com/users/Jailander/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jailander/subscriptions","organizations_url":"https://api.github.com/users/Jailander/orgs","repos_url":"https://api.github.com/users/Jailander/repos","events_url":"https://api.github.com/users/Jailander/events{/privacy}","received_events_url":"https://api.github.com/users/Jailander/received_events","type":"User","site_admin":false},"created_at":"2015-11-26T16:41:59Z","updated_at":"2015-11-26T16:41:59Z","body":"I'm opening a new issue since after the waiting this problem is no longer a racing condition "}}