cartographer-project/cartographer

Clogged up work queue can delay destruction

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#1,721 opened on Jul 16, 2020

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enhancementhelp wanted

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Description

If clients of libcartographer wish to abort all operations by destructing their Cartographer instance, this should happen immediately, and not result in blocking because of a filled up work queue in global SLAM. An example is the ROS node blocking on Ctrl-C, instead of exiting immediately.

Referencing closed https://github.com/cartographer-project/cartographer/pull/1446 as an incomplete proposal which needs further work.

Contributor guide

Research direction
Investigate the work queue implementation in global SLAM and trace the destruction path to identify why it blocks. Look at PR #1446 for previous attempts and focus on ensuring immediate cleanup without waiting for queue drain.
Tech stack
cpp
Domain
backend
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
C++Basic understanding of SLAM or robotics
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
40