Merge pull request #304 from Nobu19800/bugs/rostransportkill

ROSTransportでSubscriber側のRTCが異常終了すると、Publisher側のRTCがエラー状態になる問題
OpenRTM · Dec 18, 2023 · f2a6f7b · f2a6f7b
2 parents d73023e + a00602c
commit f2a6f7b
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/OpenRTM_aist/ext/transport/ROSTransport/ROSOutPort.py b/OpenRTM_aist/ext/transport/ROSTransport/ROSOutPort.py
@@ -344,10 +344,15 @@ def put(self, data):
                 connector.sendall(data)
             except BaseException:
                 self._rtcout.RTC_ERROR("send error")
-                self._topicmgr.removeSubscriberLink(connector.getConnection())
+                try:
+                    self._topicmgr.removeSubscriberLink(connector.getConnection())
+                except OSError as e:
+                    self._rtcout.RTC_ERROR(e)
+
+
                 # connector.shutdown(socket.SHUT_RDWR)
 
-                ret = self.CONNECTION_LOST
+                #ret = self.CONNECTION_LOST
                 self._tcp_connecters.remove(connector)
         return ret