Fix callback accessing invalid reference to promise #268
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jtbandes
reviewed
Oct 23, 2023
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Should we try this removeServiceServerLink method? (I don't really see any docs on how these should be used, just googling around)
I have tried this originally, but I only got lock error exceptions when doing so. I don't think that this API is really meant to be used other than internally. |
achim-k
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achim/fg-5366-crash-in-foxglove-ros1-due-to-pointer-foxgloveros-foxglove
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Public-Facing Changes
Fix callback accessing invalid reference to promise
Description
For ROS1, the service request and response types can only be retrieved by opening a connection to the service server. For this, we use
ros::ServiceManager::instance()->createServiceServerLinkwhich under the hood keeps a copy of the returned pointer, effectively keeping the connection alive. This patch makes sure that we drop the connection when we either have received the header or when the timeout has been exceeded. This avoids that the header-received callback is being called with an invalid reference to the promise.Fixes #267
Resolves FG-5366