fix: get transform timeout precision issue, missing resource destructors

src/rai_core/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "rai_core"
-version = "2.11.1"
+version = "2.11.2"
 description = "Core functionality for RAI framework"
 readme = "README.md"
 requires-python = ">=3.10,<3.13"

src/rai_core/rai/communication/ros2/api/service.py

@@ -127,3 +127,12 @@ def create_service(
         handle = str(uuid.uuid4())
         self._services[handle] = service
         return handle
+
+    def shutdown(self) -> None:
+        for service in self._services.values():
+            service.destroy()
+        self._services.clear()
+        with self._persistent_clients_lock:
+            for client in self._persistent_clients.values():
+                client.destroy()
+            self._persistent_clients.clear()

src/rai_core/rai/communication/ros2/api/topic.py

@@ -60,25 +60,23 @@ def __init__(
         """
         self._node = node
         self._logger = node.get_logger()
-        self._publishers: Dict[str, Publisher] = {}
 
         # TODO: These fields are a workaround to prevent subscriber destruction,
         # which often fails as described in https://github.com/ros2/rclpy/issues/1142
         # By setting destroy_subscriptions to False, subscribers are not destroyed.
         # While this may lead to memory/performance issues, it's preferable to
         # preventing node crashes.
         self._last_msg: Dict[str, Tuple[float, Any]] = {}
-        self._subscriptions: Dict[str, rclpy.node.Subscription] = {}
         self._destroy_subscribers: bool = destroy_subscribers
         self.node = node
-        self.subscriptions: Dict[str, Subscription] = {}
-        self.publishers: Dict[str, Publisher] = {}
+        self._subscriptions: Dict[str, Subscription] = {}
+        self._publishers: Dict[str, Publisher] = {}
 
     def subscriber_exists(self, topic: str) -> bool:
-        return topic in self.subscriptions
+        return topic in self._subscriptions
 
     def publisher_exists(self, topic: str) -> bool:
-        return topic in self.publishers
+        return topic in self._publishers
 
     def create_subscriber(
         self,
@@ -102,7 +100,7 @@ def create_subscriber(
         subscription = self.node.create_subscription(
             topic=topic, msg_type=msg_cls, callback=callback, qos_profile=qos
         )
-        self.subscriptions[topic] = subscription
+        self._subscriptions[topic] = subscription
         return subscription
 
     def create_publisher(
@@ -124,7 +122,7 @@ def create_publisher(
         publisher = self.node.create_publisher(
             topic=topic, msg_type=msg_cls, qos_profile=qos
         )
-        self.publishers[topic] = publisher
+        self._publishers[topic] = publisher
         return publisher
 
     def get_topic_names_and_types(
@@ -244,6 +242,11 @@ def _verify_publisher_exists(self, topic: str) -> List[TopicEndpointInfo]:
         return topic_endpoints
 
     def shutdown(self) -> None:
-        """Cleanup publishers when object is destroyed."""
+        """Cleanup publishers and subscribers when object is destroyed."""
         for publisher in self._publishers.values():
             publisher.destroy()
+        self._publishers.clear()
+
+        for subscription in self._subscriptions.values():
+            subscription.destroy()
+        self._subscriptions.clear()

src/rai_core/rai/communication/ros2/connectors/base.py

@@ -122,10 +122,12 @@ def __init__(
             If an invalid executor type is provided.
         """
         super().__init__()
+        self._owns_rclpy_context: bool = False
         if node_name is None:
             node_name = f"rai_ros2_connector_{str(uuid.uuid4())[-12:]}"
         if not rclpy.ok():
             rclpy.init()
+            self._owns_rclpy_context = True
             self.logger.warning(
                 "Auto-initializing ROS2, but manual initialization is recommended. "
                 "For better control and predictability, call rclpy.init() or ROS2Context before creating this connector."
@@ -464,11 +466,12 @@ def get_transform(
             raise LookupException(
                 f"Could not find transform from {source_frame} to {target_frame} in {timeout_sec} seconds"
             )
+        seconds, nanoseconds = divmod(timeout_sec * 1e9, 1e9)
         transform: TransformStamped = self._tf_buffer.lookup_transform(
             target_frame,
             source_frame,
             rclpy.time.Time(),
-            timeout=Duration(seconds=int(timeout_sec)),
+            timeout=Duration(seconds=int(seconds), nanoseconds=int(nanoseconds)),
         )
 
         return transform
@@ -563,10 +566,14 @@ def shutdown(self):
         4. Shuts down the topic API
         5. Shuts down the executor
         6. Joins the executor thread
+        7. Shuts down ROS2 context only if this connector initialized it
         """
         self._tf_listener.unregister()
-        self._node.destroy_node()
-        self._actions_api.shutdown()
         self._topic_api.shutdown()
+        self._service_api.shutdown()
+        self._actions_api.shutdown()
+        self._node.destroy_node()
         self._executor.shutdown()
         self._thread.join()
+        if self._owns_rclpy_context:
+            rclpy.shutdown()