AJD-568: Fix to processes dying randomly by introducing an autorespawning node container class

[bartek-kc]

Description

The idea here is to introduce a Python class that would be available for use across all the Autoware and take care of respawning processes that randomly happen to die due to not yet discovered reasons. The class is derived from the standard rospy ComposableNodeContainer and introduces two new default arguments: respawn=True and repsawn_delay=0.5 (seconds). This ensures that a process that would die would subsequently be respawned and the error mentioned in AJD-568 wouldn't occur.

Related links

https://tier4.atlassian.net/browse/AJD-568

Tests performed

For now, the PR was tested only locally using the scenario mentioned in the related ticket. The following node containers were changed to RespawnableNodeContainers: autoware_iv_adaptor, awapi_relay_container, control_container, motion_velocity_smoother, behavior_planning_container. Since the bug occurs randomly this would require additional testing before merging.

Notes for reviewers

Introducing this fix would also require changing the above mentioned containers (and possibly others too) to RespawnableNodeContainer by casting PRs to their repositories.

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[xmfcx]

@bartek-kc nice work on the this PR! It's definitely a good idea that could help us out a lot.

Could you add some tests for this new class?

If that's not really doable, no worries – you can just share some clear instructions on how to test it manually, since I don't have access to the ticket mentioned.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.