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fix(Executor): Fix segfault if callback group is deleted during rmw_wait #2683

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fix(Executor): Fix segfault if callback group is deleted during rmw_wait #2683

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jmachowinski
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Fix for #2664 in rolling

Note, this is not my preferred fix for this. But I would like to merge this now,
to get a fix into jazzy ASAP.

@alsora @mjcarroll fyi

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Not ideal, but does the job. Thanks.

@wjwwood
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wjwwood commented Nov 22, 2024

We talked about a potentially better fix for this in rolling (versus Jazzy) at the client library working group, but I would be ok with a temporary fix in rolling as well.

I also mentioned on the jazzy fix that it would be nice to have a regression test of some sort, but that's more important for rolling than jazzy imo.

fujitatomoya
fujitatomoya approved these changes Nov 22, 2024
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lgtm with green CI, unit test would be ideal.

rclcpp/src/rclcpp/executor.cpp
Comment on lines +732 to +734
// we need to make sure that callback groups don't get out of scope
// during the wait. As in jazzy, they are not covered by the DynamicStorage,
// we explicitly hold them here as a bugfix
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i would add TODO if we already have a plan to proper fix in the future not to miss, this does not block the PR.

This was referenced Nov 22, 2024
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Added unit test and fixed the same problem in the StaticSingleThreadedExecutor.

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ahcorde commented Nov 27, 2024 •
edited by christophebedard
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Pulls: #2683
Gist: https://gist.githubusercontent.com/ahcorde/fbbd8e165d63b1398346b46e40e02a57/raw/1e348604284103bcceb6dc009bd30720eb3e7ecc/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14874

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

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@ahcorde @alsora can we merge ?

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@christophebedard christophebedard christophebedard left review comments

@fujitatomoya fujitatomoya fujitatomoya approved these changes

@alsora alsora alsora approved these changes

@mjcarroll mjcarroll mjcarroll approved these changes

@ivanpauno ivanpauno Awaiting requested review from ivanpauno

@hidmic hidmic Awaiting requested review from hidmic

@wjwwood wjwwood Awaiting requested review from wjwwood

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@jmachowinski @mjcarroll @wjwwood @ahcorde @christophebedard @alsora @fujitatomoya