20-60 second delays in actionlib.SimpleActionClient.wait_for_server() about actionlib

[guiolpei]

We were defining the SimpleActionClient inside the control loop, causing it to be created and destroyed in each execution.

We managed to solve this problem by defining it as a global variable and keeping it alive during the whole process.

[djh329]

Was the cause of this ever discovered?

[lindzey]

Not that I ever heard of. We didn't have resources at the time to dig deeper, and I'm no longer with that team.

[lindzey]

No, we weren't using Docker.

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[guiolpei]

Any news on this?

We are experiencing the similar problem. Works perfectly in simulated environment, but delays appear when testing on real setup.

First run works without delays, but from the second time on these same delays occur.

[djh329]

I was able to solve this by adjusting File ULimits. I was running inside Docker. I found the solution here: moby/moby#38814

[gavanderhoorn]

@djh329: so what was the solution? Lowering or raising the limits? From some of the comments on the issue you link it seems lowering would reduce accounting delay, but issues with ulimits are typically 'solved' by raising them.

[guiolpei]

@djh329: Unfortunately we are not using Docker.

[djh329]

We lowered them to 1024 in our case