Temporary Patch to fix rclpy:1123

ros2/rclpy#1123

src/rovr_control/rovr_control/calibrate_field_coordinates.py

@@ -12,6 +12,33 @@
 from rovr_interfaces.action import CalibrateFieldCoordinates
 from rovr_interfaces.srv import ResetOdom
 
+from typing import Any
+from threading import RLock
+
+class PatchRclpyIssue1123(ActionClient):
+    _lock: RLock = None  # type: ignore
+
+    @property
+    def _cpp_client_handle_lock(self) -> RLock:
+        if self._lock is None:
+            self._lock = RLock()
+        return self._lock
+
+    async def execute(self, *args: Any, **kwargs: Any) -> None:
+        with self._cpp_client_handle_lock:
+            return await super().execute(*args, **kwargs)  # type: ignore
+
+    def send_goal_async(self, *args: Any, **kwargs: Any) -> Future:
+        with self._cpp_client_handle_lock:
+            return super().send_goal_async(*args, **kwargs)
+
+    def _cancel_goal_async(self, *args: Any, **kwargs: Any) -> Future:
+        with self._cpp_client_handle_lock:
+            return super()._cancel_goal_async(*args, **kwargs)
+
+    def _get_result_async(self, *args: Any, **kwargs: Any) -> Future:
+        with self._cpp_client_handle_lock:
+            return super()._get_result_async(*args, **kwargs)
 
 class CalibrateFieldCoordinateServer(Node):
     def __init__(self):
@@ -26,7 +53,7 @@ def __init__(self):
         self.cli_set_apriltag_odometry = self.create_client(ResetOdom, "resetOdom")
         self.future_odom = Future()
 
-        self.cli_spin = ActionClient(self, Spin, "spin")
+        self.cli_spin = PatchRclpyIssue1123(self, Spin, "spin")
         self.future_spin = Future()
 
     def execute_callback(self, goal_handle: ServerGoalHandle):