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Fix thread issues added upstream - #56

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David-LP99 merged 1 commit into
rolling_rebasedfrom
hotfix/pthread_issue
Sep 8, 2026
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Fix thread issues added upstream#56
David-LP99 merged 1 commit into
rolling_rebasedfrom
hotfix/pthread_issue

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@David-LP99 David-LP99 commented Sep 7, 2026

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Description

This PR aims to deal with two changes involving threads from upstream.

The base64 encode and decode functionality added in ros2#533 for configuring binary data in YAML files is not needed in micro-ROS. It's only reference at the moment comes from rcl_yaml_param_parser, which is also disabled in micro-ROS.

In ros2#579, it was also added a dependency on pthreads, which is not used anywere else in micro-ROS and should be gated on RCUTILS_NO_THREAD_SUPPORT.

Main changes

  • Added gates that prevent base64.c from compiling in micro-ROS/rcutils
  • The package Threads is now linked conditionally on RCUTILS_NO_THREAD_SUPPORT

@David-LP99
Fix thread issues from upstream
b638b2b 
Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>
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mergify Bot commented Sep 7, 2026

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EugenioCollado
EugenioCollado approved these changes Sep 8, 2026
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LGTM

@David-LP99
David-LP99 merged commit 0d06209 into rolling_rebased Sep 8, 2026
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@David-LP99
David-LP99 deleted the hotfix/pthread_issue branch September 8, 2026 07:12
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David-LP99 commented Sep 8, 2026

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@mergify backport lyrical

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mergify Bot commented Sep 8, 2026 •
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backport lyrical

✅ Backports have been created

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Cherry-pick of 0d06209 has failed:

On branch mergify/bp/lyrical/pr-56
Your branch is up to date with 'origin/lyrical'.

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	both modified:   CMakeLists.txt

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@mergify mergify Bot mentioned this pull request Sep 8, 2026
Merged
David-LP99 pushed a commit that referenced this pull request Sep 8, 2026
@mergify
Fix thread issues added upstream (backport #56) (#57)
e47819f 
Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>
David-LP99 added a commit that referenced this pull request Sep 8, 2026
@David-LP99 @pablogs9
@jamoralp @bjsowa @4ntn @EugenioCollado @Carlosespicur @jimmy-mcelwain
micro-ROS Lyrical patch
15782b3 
* micro-ROS changes over dashing

* Added and updated security directory (#1)

* RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION (#2)
  - No filesystem options; default allocators write access
  - Avoid dynamic allocation and no filesystem on error handling
  - Error handling template; new allocator approach

* Add test_security_directory test from rcl (#3)

* Zephyr fixes (#4)

* CMake refactor (#5)

* Update approach (#6)
  - Remove target_compile_definitions and refactor flags install
  - Added RCUTILS_NO_FILESYSTEM on new functions

* Updates 17092020

* Fix atomics 64bits (#9)
  - Add hashing and lock pool

* Updates 09102020

* Release micro-ROS Foxy (#8)
  - Update filesystem; adjust logger level; cleaning

* Remove build warning (#10) - avoid not used warnings

* Reduce error handling static size (#14) (#15)

* Revert "Revert "Install headers to include/${PROJECT_NAME} (ros2#351)""

* Fix atomic 64 b description (#17) (#18)

* Add fork checker for humble

* Don't link dl library when not needed (#28)

* Revert "Set hints to find the python version we actually want. (ros2#451)"

* Fix struct tm init

* Add PRId64

* Don't export dl library when not used (#33) (#34)

* Remove unnecessary folder (#42)

* Update CI (backport #43) (#46)
  - Add CI and nightly for each distro; update git version; skip tests
  - Change nightly to weekly; change master to rolling in fork checker

* Add RCUTILS_NO_PROCESS_SUPPORT option to build without fork/exec/wait (#50)

* Update CI (#51)

* Fix thread issues added upstream (backport #56) (#57)

Dropped during the rebase as superseded by upstream:
* Don't export dl library when not used (#33) (#34)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
Co-authored-by: Jose Antonio Moral <joseantoniomoralparras@gmail.com>
Co-authored-by: Blazej Sowa <bsowa123@gmail.com>
Co-authored-by: Anton Casas <antoncasas@eprosima.com>
Co-authored-by: Eugenio Collado <eugeniocollado@eprosima.com>
Co-authored-by: Carlos Espinoza Curto <148376273+Carlosespicur@users.noreply.github.com>
Co-authored-by: Jimmy McElwain <jimmy.mcelwain@motoman.com>
Signed-off-by: David Laseca <davidlaseca@eprosima.com>
David-LP99 added a commit that referenced this pull request Sep 8, 2026
@David-LP99 @pablogs9
@jamoralp @bjsowa @4ntn @EugenioCollado @Carlosespicur @jimmy-mcelwain
micro-ROS Rolling patch
41fb1b6 
* micro-ROS changes over dashing

* Added and updated security directory (#1)

* RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION (#2)
  - No filesystem options; default allocators write access
  - Avoid dynamic allocation and no filesystem on error handling
  - Error handling template; new allocator approach

* Add test_security_directory test from rcl (#3)

* Zephyr fixes (#4)

* CMake refactor (#5)

* Update approach (#6)
  - Remove target_compile_definitions and refactor flags install
  - Added RCUTILS_NO_FILESYSTEM on new functions

* Updates 17092020

* Fix atomics 64bits (#9)
  - Add hashing and lock pool

* Updates 09102020

* Release micro-ROS Foxy (#8)
  - Update filesystem; adjust logger level; cleaning

* Remove build warning (#10) - avoid not used warnings

* Reduce error handling static size (#14) (#15)

* Revert "Revert "Install headers to include/${PROJECT_NAME} (ros2#351)""

* Fix atomic 64 b description (#17) (#18)

* Add fork checker for humble

* Don't link dl library when not needed (#28)

* Revert "Set hints to find the python version we actually want. (ros2#451)"

* Fix struct tm init

* Add PRId64

* Don't export dl library when not used (#33) (#34)

* Remove unnecessary folder (#42)

* Update CI (backport #43) (#46)
  - Add CI and nightly for each distro; update git version; skip tests
  - Change nightly to weekly; change master to rolling in fork checker

* Add RCUTILS_NO_PROCESS_SUPPORT option to build without fork/exec/wait (#50)

* Update CI (backport #51) (#54)

* Fix thread issues from upstream (#56)

Dropped during the rebase as superseded by upstream:
* Don't export dl library when not used (#33) (#34)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
Co-authored-by: Jose Antonio Moral <joseantoniomoralparras@gmail.com>
Co-authored-by: Blazej Sowa <bsowa123@gmail.com>
Co-authored-by: Anton Casas <antoncasas@eprosima.com>
Co-authored-by: Eugenio Collado <eugeniocollado@eprosima.com>
Co-authored-by: Carlos Espinoza Curto <148376273+Carlosespicur@users.noreply.github.com>
Co-authored-by: Jimmy McElwain <jimmy.mcelwain@motoman.com>
Signed-off-by: David Laseca <davidlaseca@eprosima.com>
David-LP99 added a commit that referenced this pull request Sep 8, 2026
@David-LP99 @pablogs9
@jamoralp @bjsowa @4ntn @EugenioCollado @Carlosespicur @jimmy-mcelwain
micro-ROS Lyrical patch
73d448e 
* micro-ROS changes over dashing

* Added and updated security directory (#1)

* RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION (#2)
  - No filesystem options; default allocators write access
  - Avoid dynamic allocation and no filesystem on error handling
  - Error handling template; new allocator approach

* Add test_security_directory test from rcl (#3)

* Zephyr fixes (#4)

* CMake refactor (#5)

* Update approach (#6)
  - Remove target_compile_definitions and refactor flags install
  - Added RCUTILS_NO_FILESYSTEM on new functions

* Updates 17092020

* Fix atomics 64bits (#9)
  - Add hashing and lock pool

* Updates 09102020

* Release micro-ROS Foxy (#8)
  - Update filesystem; adjust logger level; cleaning

* Remove build warning (#10) - avoid not used warnings

* Reduce error handling static size (#14) (#15)

* Revert "Revert "Install headers to include/${PROJECT_NAME} (ros2#351)""

* Fix atomic 64 b description (#17) (#18)

* Add fork checker for humble

* Don't link dl library when not needed (#28)

* Revert "Set hints to find the python version we actually want. (ros2#451)"

* Fix struct tm init

* Add PRId64

* Don't export dl library when not used (#33) (#34)

* Remove unnecessary folder (#42)

* Update CI (backport #43) (#46)
  - Add CI and nightly for each distro; update git version; skip tests
  - Change nightly to weekly; change master to rolling in fork checker

* Add RCUTILS_NO_PROCESS_SUPPORT option to build without fork/exec/wait (#50)

* Update CI (#51)

* Fix thread issues added upstream (backport #56) (#57)

* Fix weekly CI (backport #58) (#60)

Dropped during the rebase as superseded by upstream:
* Don't export dl library when not used (#33) (#34)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
Co-authored-by: Jose Antonio Moral <joseantoniomoralparras@gmail.com>
Co-authored-by: Blazej Sowa <bsowa123@gmail.com>
Co-authored-by: Anton Casas <antoncasas@eprosima.com>
Co-authored-by: Eugenio Collado <eugeniocollado@eprosima.com>
Co-authored-by: Carlos Espinoza Curto <148376273+Carlosespicur@users.noreply.github.com>
Co-authored-by: Jimmy McElwain <jimmy.mcelwain@motoman.com>
Signed-off-by: David Laseca <davidlaseca@eprosima.com>
David-LP99 added a commit that referenced this pull request Sep 8, 2026
@David-LP99 @pablogs9
@jamoralp @bjsowa @4ntn @EugenioCollado @Carlosespicur @jimmy-mcelwain
micro-ROS Rolling patch
f58160b 
* micro-ROS changes over dashing

* Added and updated security directory (#1)

* RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION (#2)
  - No filesystem options; default allocators write access
  - Avoid dynamic allocation and no filesystem on error handling
  - Error handling template; new allocator approach

* Add test_security_directory test from rcl (#3)

* Zephyr fixes (#4)

* CMake refactor (#5)

* Update approach (#6)
  - Remove target_compile_definitions and refactor flags install
  - Added RCUTILS_NO_FILESYSTEM on new functions

* Updates 17092020

* Fix atomics 64bits (#9)
  - Add hashing and lock pool

* Updates 09102020

* Release micro-ROS Foxy (#8)
  - Update filesystem; adjust logger level; cleaning

* Remove build warning (#10) - avoid not used warnings

* Reduce error handling static size (#14) (#15)

* Revert "Revert "Install headers to include/${PROJECT_NAME} (ros2#351)""

* Fix atomic 64 b description (#17) (#18)

* Add fork checker for humble

* Don't link dl library when not needed (#28)

* Revert "Set hints to find the python version we actually want. (ros2#451)"

* Fix struct tm init

* Add PRId64

* Don't export dl library when not used (#33) (#34)

* Remove unnecessary folder (#42)

* Update CI (backport #43) (#46)
  - Add CI and nightly for each distro; update git version; skip tests
  - Change nightly to weekly; change master to rolling in fork checker

* Add RCUTILS_NO_PROCESS_SUPPORT option to build without fork/exec/wait (#50)

* Update CI (backport #51) (#54)

* Fix thread issues from upstream (#56)

* Fix weekly CI (backport #58) (#59)

Dropped during the rebase as superseded by upstream:
* Don't export dl library when not used (#33) (#34)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
Co-authored-by: Jose Antonio Moral <joseantoniomoralparras@gmail.com>
Co-authored-by: Blazej Sowa <bsowa123@gmail.com>
Co-authored-by: Anton Casas <antoncasas@eprosima.com>
Co-authored-by: Eugenio Collado <eugeniocollado@eprosima.com>
Co-authored-by: Carlos Espinoza Curto <148376273+Carlosespicur@users.noreply.github.com>
Co-authored-by: Jimmy McElwain <jimmy.mcelwain@motoman.com>
Signed-off-by: David Laseca <davidlaseca@eprosima.com>
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