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Investigate potential bug in rmw API #74

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Yadunund opened this issue Dec 2, 2023 · 1 comment
Closed

Investigate potential bug in rmw API #74

Yadunund opened this issue Dec 2, 2023 · 1 comment

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@Yadunund
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Yadunund commented Dec 2, 2023

rmw_shutdown() is invoked by rcl before rmw_destroy_node(). See

rmw_zenoh/rmw_zenoh_cpp/src/rmw_init.cpp

Lines 372 to 375 in 8569898

// We destroy zenoh artifacts here instead of rmw_shutdown() as
// rmw_shutdown() is invoked before rmw_destroy_node() however we still need the session
// alive for the latter.
// TODO(Yadunund): Check if this is a bug in rmw.

@clalancette
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This is by design; see #92. Closing this one out.

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@clalancette @Yadunund