ConnectionBasedNodelet race condition bug

README.md

terminal 1

roslaunch test_connection2.launch RESPAWN:=true

terminal 2

rostopic hz relay_19/output -w 10

terminal 3

watch -n 20 rosnode kill relay_10

test_connection2.launch

<launch>
<arg name="RESPAWN" default="false" />
<node pkg="rostopic" type="rostopic" name="input"
    args="pub /input std_msgs/String '{data: input}' -r 10">
    </node>
    <node pkg="nodelet" type="nodelet" name="manager" args="manager" output="screen"/>
    <node pkg="nodelet" type="nodelet" name="relay_0" respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="input" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_1"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_0/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_2"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_1/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_3"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_2/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_4"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_3/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_5"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_4/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_6"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_5/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_7"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_6/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_8"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_7/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_9"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_8/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_10"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_9/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_11"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_10/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_12"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_11/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_13"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_12/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_14"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_13/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_15"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_14/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_16"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_15/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_17"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_16/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_18"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_17/output" />
            </node>
<node pkg="nodelet" type="nodelet" name="relay_19"  respawn="$(arg RESPAWN)"
            args="load jsk_topic_tools/StringRelay manager" output="screen">
            <remap from="~input" to="relay_18/output" />
            </node>
</launch>