rqt_cm: Robustify test and fix shutdown races (backport #3396) (#3464)

Author: mergify[bot]

rqt_controller_manager/package.xml

@@ -27,6 +27,9 @@
   <exec_depend>rqt_gui</exec_depend>
   <exec_depend>rqt_gui_py</exec_depend>
 
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+
   <export>
     <build_type>ament_python</build_type>
     <rqt_gui plugin="${prefix}/plugin.xml"/>

rqt_controller_manager/rqt_controller_manager/controller_manager.py

@@ -146,6 +146,7 @@ def __init__(self, context):
     def shutdown_plugin(self):
         self._update_cm_list_timer.stop()
         self._update_ctrl_list_timer.stop()
+        self._update_hw_components_list_timer.stop()
         self._popup_widget.hide()
 
     def save_settings(self, plugin_settings, instance_settings):
@@ -164,7 +165,13 @@ def restore_settings(self, plugin_settings, instance_settings):
             pass
 
     def _update_cm_list(self):
-        update_combo(self._widget.cm_combo, _list_controller_managers(self._node))
+        try:
+            update_combo(self._widget.cm_combo, _list_controller_managers(self._node))
+        except Exception as e:
+            if "destruction was requested" in str(e) or "context is not valid" in str(e):
+                self._update_cm_list_timer.stop()
+                return
+            raise
 
     def _on_cm_change(self, cm_name):
         self._cm_name = cm_name
@@ -178,7 +185,13 @@ def _update_controllers(self):
             return
 
         # Find controllers associated to the selected controller manager
-        controllers = self._list_controllers()
+        try:
+            controllers = self._list_controllers()
+        except Exception as e:
+            if "destruction was requested" in str(e) or "context is not valid" in str(e):
+                self._update_ctrl_list_timer.stop()
+                return
+            raise
 
         # Update controller display, if necessary
         if self._controllers != controllers:
@@ -321,7 +334,13 @@ def _update_hw_components(self):
             return
 
         # Find hw_components associated to the selected controller manager
-        hw_components = self._list_hw_components()
+        try:
+            hw_components = self._list_hw_components()
+        except Exception as e:
+            if "destruction was requested" in str(e) or "context is not valid" in str(e):
+                self._update_hw_components_list_timer.stop()
+                return
+            raise
 
         # Update controller display, if necessary
         if self._hw_components != hw_components:
@@ -635,11 +654,16 @@ def _list_controller_managers(node):
     @return List of controller manager node names
     @rtype list of str
     """
-    return [
-        name.rstrip("list_controllers").rstrip("/")
-        for name, _ in get_service_names_and_types(node=node)
-        if name.endswith("list_controllers")
-    ]
+    try:
+        return [
+            name.rstrip("list_controllers").rstrip("/")
+            for name, _ in get_service_names_and_types(node=node)
+            if name.endswith("list_controllers")
+        ]
+    except Exception as e:
+        if "destruction was requested" in str(e) or "context is not valid" in str(e):
+            return []
+        raise
 
 
 def _get_parameter_controller_names(node, node_name):

rqt_controller_manager/test/test_run_launch.py

@@ -0,0 +1,58 @@
+# Copyright (c) 2026 Christian Rauch
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+import unittest
+
+import launch
+import launch_ros.actions
+import launch_testing.actions
+import launch_testing.markers
+import pytest
+import rclpy
+from rclpy.node import Node
+
+node_name = "rqt_controller_manager_node"
+
+
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+    return launch.LaunchDescription(
+        [
+            launch_ros.actions.Node(
+                executable="rqt_controller_manager",
+                package="rqt_controller_manager",
+                name=node_name,
+                arguments=["--force-discover"],
+                additional_env={"QT_QPA_PLATFORM": "offscreen"},
+            ),
+            launch_testing.actions.ReadyToTest(),
+        ]
+    )
+
+
+class TestFixture(unittest.TestCase):
+
+    def setUp(self):
+        rclpy.init()
+        self.node = Node("test_node")
+
+    def tearDown(self):
+        self.node.destroy_node()
+        rclpy.shutdown()
+
+    def test_node_start(self, proc_output):
+        time.sleep(2)
+        assert node_name in self.node.get_node_names()