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ResourceWarning with rosnode ping #2176

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git-afsantos opened this issue Aug 17, 2021 · 2 comments · May be fixed by #2381
Open

ResourceWarning with rosnode ping #2176

git-afsantos opened this issue Aug 17, 2021 · 2 comments · May be fixed by #2381

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@git-afsantos
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Greetings!

I have some test code in Python using unittest and rosnode.ping_node().
When running this test code with Python 3 (ROS Noetic), a series of warnings are displayed, stating that sockets are not explicitly closed. I have not seen these warnings before with ROS Melodic and Python 2.7, so I am guessing this has been added in Python 3.x.

For an example, consider the following environment:

#!/usr/bin/env bash
roscore &
rostopic echo /topic

And the following test code:

import sys
import unittest
from rosnode import rosnode_ping_all
import rospy

class TestTracer(unittest.TestCase):
    def test_ping_warning(self):
        rosnode_ping_all(skip_cache=True)

def main():
    rospy.init_node("ping_tester", log_level=rospy.DEBUG)
    unittest.main(module=__name__, argv=[__name__], exit=False)
    sys.stdout.flush()

if __name__ == "__main__":
    main()

Executing this code with Python 3 produces the following output.

Test Output

[DEBUG] [1629206461.806698]: init_node, name[/ping_tester], pid[46274]
[DEBUG] [1629206461.809490]: binding to 0.0.0.0 0
[DEBUG] [1629206461.811671]: bound to 0.0.0.0 33287
[DEBUG] [1629206461.814433]: ... service URL is rosrpc://andre-ros-noetic:33287
[DEBUG] [1629206461.816574]: [/ping_tester/get_loggers]: new Service instance
[DEBUG] [1629206461.820822]: ... service URL is rosrpc://andre-ros-noetic:33287
[DEBUG] [1629206461.823336]: [/ping_tester/set_logger_level]: new Service instance
/opt/ros/noetic/lib/python3/dist-packages/rosnode/init.py:403: ResourceWarning: unclosed <socket.socket fd=10, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=6, laddr=('127.0.0.1', 47764), raddr=('127.0.0.1', 11311)>
if rosnode_ping(node, max_count=1, verbose=verbose, skip_cache=skip_cache):
ResourceWarning: Enable tracemalloc to get the object allocation traceback
/opt/ros/noetic/lib/python3/dist-packages/rosnode/init.py:403: ResourceWarning: unclosed <socket.socket fd=11, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=6, laddr=('127.0.0.1', 49064), raddr=('127.0.1.1', 42105)>
if rosnode_ping(node, max_count=1, verbose=verbose, skip_cache=skip_cache):
ResourceWarning: Enable tracemalloc to get the object allocation traceback
/opt/ros/noetic/lib/python3/dist-packages/rosnode/init.py:403: ResourceWarning: unclosed <socket.socket fd=10, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=6, laddr=('127.0.0.1', 47768), raddr=('127.0.0.1', 11311)>
if rosnode_ping(node, max_count=1, verbose=verbose, skip_cache=skip_cache):
ResourceWarning: Enable tracemalloc to get the object allocation traceback
/opt/ros/noetic/lib/python3/dist-packages/rosnode/init.py:403: ResourceWarning: unclosed <socket.socket fd=11, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=6, laddr=('127.0.0.1', 56510), raddr=('127.0.1.1', 42669)>
if rosnode_ping(node, max_count=1, verbose=verbose, skip_cache=skip_cache):
ResourceWarning: Enable tracemalloc to get the object allocation traceback
/opt/ros/noetic/lib/python3/dist-packages/rosnode/init.py:403: ResourceWarning: unclosed <socket.socket fd=10, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=6, laddr=('127.0.0.1', 47772), raddr=('127.0.0.1', 11311)>
if rosnode_ping(node, max_count=1, verbose=verbose, skip_cache=skip_cache):
ResourceWarning: Enable tracemalloc to get the object allocation traceback
/opt/ros/noetic/lib/python3/dist-packages/rosnode/init.py:403: ResourceWarning: unclosed <socket.socket fd=11, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=6, laddr=('127.0.0.1', 56428), raddr=('127.0.1.1', 42983)>
if rosnode_ping(node, max_count=1, verbose=verbose, skip_cache=skip_cache):
ResourceWarning: Enable tracemalloc to get the object allocation traceback
ping_test.py:11: ResourceWarning: unclosed <socket.socket fd=9, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=6, laddr=('127.0.0.1', 47762), raddr=('127.0.0.1', 11311)>
rosnode_ping_all(skip_cache=True)
ResourceWarning: Enable tracemalloc to get the object allocation traceback
.

Ran 1 test in 0.018s

OK

Here is an abbreviated version of the issue:

ResourceWarning: Enable tracemalloc to get the object allocation traceback
ping_test.py:11: ResourceWarning: unclosed <socket.socket fd=9, family=AddressFamily.AF_INET, type=SocketKind.SOCK_STREAM, proto=6, laddr=('127.0.0.1', 47762), raddr=('127.0.0.1', 11311)>
  rosnode_ping_all(skip_cache=True)
ResourceWarning: Enable tracemalloc to get the object allocation traceback

The issue can be resolved by enveloping ServerProxy instances used in ping_node (example 1, example 2) with a context manager, as stated in the docs and as shown in similar reports in StackOverflow.
@RicardoM17
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RicardoM17 commented Dec 2, 2024 •
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Hi @git-afsantos Did you end up solving this in some way?

I'm facing the same issue now (this is actually causing a memory leak in my node) so if you have any findings that you could share that would be great.

Edit: I have a fix, I will make a PR today or tomorrow and update this issue accordingly.

@RicardoM17 RicardoM17 linked a pull request Dec 6, 2024 that will close this issue
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@git-afsantos
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git-afsantos commented Dec 12, 2024 •
edited
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Hey, @RicardoM17 .
It has been a long time, so I may not recall correctly, but I think that my final solution just ended up dropping ping entirely.

Cheers for opening that PR, though.

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rosnode: Fix unclosed socket in rosnode_ping command RicardoM17/ros_comm
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@git-afsantos @RicardoM17