Greenwave monitor sometimes exits with return code -11, causes flaky test. #16
Description
Greenwave monitor will sometimes fail to exit gracefully, sometimes returning exit code -11. This causes our CI to have a flaky test.
test 1
Start 1: test_greenwave_monitor
1: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/__w/greenwave_monitor/greenwave_monitor/build/greenwave_monitor/test_results/greenwave_monitor/test_greenwave_monitor.xunit.xml" "--package-name" "greenwave_monitor" "--output-file" "/__w/greenwave_monitor/greenwave_monitor/build/greenwave_monitor/ament_cmake_pytest/test_greenwave_monitor.txt" "--command" "/usr/bin/python3" "-u" "-m" "pytest" "/__w/greenwave_monitor/greenwave_monitor/greenwave_monitor/greenwave_monitor/test/test_greenwave_monitor.py" "-o" "cache_dir=/__w/greenwave_monitor/greenwave_monitor/build/greenwave_monitor/ament_cmake_pytest/test_greenwave_monitor/.cache" "--junit-xml=/__w/greenwave_monitor/greenwave_monitor/build/greenwave_monitor/test_results/greenwave_monitor/test_greenwave_monitor.xunit.xml" "--junit-prefix=greenwave_monitor"
1: Test timeout computed to be: 120
1: -- run_test.py: invoking following command in '/__w/greenwave_monitor/greenwave_monitor/greenwave_monitor/greenwave_monitor':
1: - /usr/bin/python3 -u -m pytest /__w/greenwave_monitor/greenwave_monitor/greenwave_monitor/greenwave_monitor/test/test_greenwave_monitor.py -o cache_dir=/__w/greenwave_monitor/greenwave_monitor/build/greenwave_monitor/ament_cmake_pytest/test_greenwave_monitor/.cache --junit-xml=/__w/greenwave_monitor/greenwave_monitor/build/greenwave_monitor/test_results/greenwave_monitor/test_greenwave_monitor.xunit.xml --junit-prefix=greenwave_monitor
1: ============================= test session starts ==============================
1: platform linux -- Python 3.10.12, pytest-6.2.5, py-1.10.0, pluggy-0.13.0
1: cachedir: /__w/greenwave_monitor/greenwave_monitor/build/greenwave_monitor/ament_cmake_pytest/test_greenwave_monitor/.cache
1: rootdir: /__w/greenwave_monitor/greenwave_monitor/greenwave_monitor/greenwave_monitor
1: plugins: launch-testing-ros-0.19.12, ament-lint-0.12.14, ament-pep257-0.12.14, ament-xmllint-0.12.14, launch-testing-1.0.11, ament-flake8-0.12.14, ament-copyright-0.12.14, colcon-core-0.20.1, cov-3.0.0
1: collected 1 item
1:
1: test/test_greenwave_monitor.py F [100%]
[Processing: greenwave_monitor]
1:
1: =================================== FAILURES ===================================
1: _____________________ launch tests: test_greenwave_monitor _____________________
1:
1: =====================================================================================================================================================
1: FAIL: test_greenwave_monitor.TestGreenwaveMonitorPostShutdown.test_node_shutdown[imu, 1.0, 0.5]
1: -----------------------------------------------------------------------------------------------------------------------------------------------------
1: Traceback (most recent call last):
1: File "/__w/greenwave_monitor/greenwave_monitor/greenwave_monitor/greenwave_monitor/test/test_greenwave_monitor.py", line 101, in test_node_shutdown
1: assertExitCodes(proc_info, allowable_exit_codes=[0])
1: File "/opt/ros/humble/lib/python3.10/site-packages/launch_testing/asserts/assert_exit_codes.py", line 62, in assertExitCodes
1: assert info.returncode in allowable_exit_codes, 'Proc {} exited with code {}'.format(
1: AssertionError: Proc minimal_publisher_node-4 exited with code -11
1: ----------------------------- Captured stdout call -----------------------------
1:
1: Starting test run test_greenwave_monitor[imu, 1.0, 0.5]
1: [INFO] [launch]: All log files can be found below /github/home/.ros/log/2025-10-20-20-08-07-283824-4ac8c9bc7320-10085
1: [INFO] [launch]: Default logging verbosity is set to INFO
1: [INFO] [greenwave_monitor-1]: process started with pid [10097]
1: [INFO] [minimal_publisher_node-2]: process started with pid [10099]
1: [INFO] [minimal_publisher_node-3]: process started with pid [10101]
1: [INFO] [minimal_publisher_node-4]: process started with pid [10103]
1: [greenwave_monitor-1] [INFO] [1760990887.349143826] [test_namespace.test_greenwave_monitor]: Starting GreenwaveMonitorNode
1: [greenwave_monitor-1] [INFO] [1760990887.350719695] [test_namespace.test_greenwave_monitor]: Adding subscription for topic '/test_topic'
1: [minimal_publisher_node-2] [INFO] [1760990888.349272941] [minimal_publisher_node]: Publishing IMU: frame_id='frame_0', stamp='349266940'
1: [greenwave_monitor-1] [INFO] [1760990888.354271194] [test_namespace.test_greenwave_monitor]: ====================================================
1: [greenwave_monitor-1] [INFO] [1760990888.354416304] [test_namespace.test_greenwave_monitor]: Frame rate for topic /test_topic: 0.00 hz
1: [greenwave_monitor-1] [INFO] [1760990888.354436862] [test_namespace.test_greenwave_monitor]: Latency for topic /test_topic: 0.41 ms
1: [greenwave_monitor-1] [INFO] [1760990888.354447502] [test_namespace.test_greenwave_monitor]: ====================================================
1: [minimal_publisher_node-3] [INFO] [1760990888.356190456] [minimal_publisher_node1]: Publishing IMU: frame_id='frame_0', stamp='356183984'
1: [minimal_publisher_node-4] [INFO] [1760990888.364168080] [minimal_publisher_node2]: Publishing IMU: frame_id='frame_0', stamp='364162900'
1: [greenwave_monitor-1] [INFO] [1760990889.354269672] [test_namespace.test_greenwave_monitor]: ====================================================
1: [greenwave_monitor-1] [INFO] [1760990889.354434177] [test_namespace.test_greenwave_monitor]: Frame rate for topic /test_topic: 1.00 hz
1: [greenwave_monitor-1] [INFO] [1760990889.354458542] [test_namespace.test_greenwave_monitor]: Latency for topic /test_topic: 0.22 ms
1: [greenwave_monitor-1] [INFO] [1760990889.354472428] [test_namespace.test_greenwave_monitor]: ====================================================
1: [greenwave_monitor-1] [INFO] [1760990890.354243634] [test_namespace.test_greenwave_monitor]: ====================================================
1: [greenwave_monitor-1] [INFO] [1760990890.354347146] [test_namespace.test_greenwave_monitor]: Frame rate for topic /test_topic: 1.00 hz
1: [greenwave_monitor-1] [INFO] [1760990890.354365100] [test_namespace.test_greenwave_monitor]: Latency for topic /test_topic: 0.19 ms
1: [greenwave_monitor-1] [INFO] [1760990890.354375428] [test_namespace.test_greenwave_monitor]: ====================================================
1: [greenwave_monitor-1] [INFO] [1760990891.354232583] [test_namespace.test_greenwave_monitor]: ====================================================
1: [greenwave_monitor-1] [INFO] [1760990891.354348518] [test_namespace.test_greenwave_monitor]: Frame rate for topic /test_topic: 1.00 hz
1: [greenwave_monitor-1] [INFO] [1760990891.354366702] [test_namespace.test_greenwave_monitor]: Latency for topic /test_topic: 0.22 ms
1: [greenwave_monitor-1] [INFO] [1760990891.354407498] [test_namespace.test_greenwave_monitor]: ====================================================
1: [greenwave_monitor-1] [INFO] [1760990892.354230259] [test_namespace.test_greenwave_monitor]: ====================================================
1: [greenwave_monitor-1] [INFO] [1760990892.354357946] [test_namespace.test_greenwave_monitor]: Frame rate for topic /test_topic: 1.00 hz
1: [greenwave_monitor-1] [INFO] [1760990892.354379596] [test_namespace.test_greenwave_monitor]: Latency for topic /test_topic: 0.23 ms
1: [greenwave_monitor-1] [INFO] [1760990892.354419540] [test_namespace.test_greenwave_monitor]: ====================================================
1: [INFO] [minimal_publisher_node-4]: sending signal 'SIGINT' to process[minimal_publisher_node-4]
1: [INFO] [minimal_publisher_node-3]: sending signal 'SIGINT' to process[minimal_publisher_node-3]
1: [INFO] [minimal_publisher_node-2]: sending signal 'SIGINT' to process[minimal_publisher_node-2]
1: [INFO] [greenwave_monitor-1]: sending signal 'SIGINT' to process[greenwave_monitor-1]
1: [minimal_publisher_node-4] [INFO] [1760990892.363065253] [rclcpp]: signal_handler(signum=2)
1: [minimal_publisher_node-3] [INFO] [1760990892.363670168] [rclcpp]: signal_handler(signum=2)
1: [minimal_publisher_node-2] [INFO] [1760990892.364414060] [rclcpp]: signal_handler(signum=2)
1: [greenwave_monitor-1] [INFO] [1760990892.366640573] [rclcpp]: signal_handler(signum=2)
1: [INFO] [minimal_publisher_node-3]: process has finished cleanly [pid 10101]
1: [INFO] [minimal_publisher_node-2]: process has finished cleanly [pid 10099]
1: [INFO] [greenwave_monitor-1]: process has finished cleanly [pid 10097]
Error: OR] [minimal_publisher_node-4]: process has died [pid 10103, exit code -11, cmd '/__w/greenwave_monitor/greenwave_monitor/install/greenwave_monitor/lib/greenwave_monitor/minimal_publisher_node --ros-args -r __node:=minimal_publisher_node2 --params-file /tmp/launch_params_lfw2o5yl'].