Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic

[saikishor]

As reported in #1442, loading the robot_description through the topic will cause a segmentation fault or some undefined behaviors as the read and write methods real-time methods are continuously executed, and when the robot description is received and the resource_manager is to be initialized, there is no lock_guard of recursive mutex resources_lock_, which should avoid the RM to execute the components when they are changing state or being loaded and initialized

Fixes #1442

[christophfroehlich]

LGTM

[firesurfer]

@saikishor I just tested this PR and it seems like the treading/lock issue is gone.
I couldn't test is further as I am running iron on my system and something about the default controllers seems to have changed between iron/rolling.

It can not load the JointStateBroadCaster what(): Failed to load library /opt/ros/iron/lib/libjoint_state_broadcaster.so which is installed from the package repository.
But I guess that is to be expected.

[saikishor]

It can not load the JointStateBroadCaster what(): Failed to load library /opt/ros/iron/lib/libjoint_state_broadcaster.so which is installed from the package repository.
But I guess that is to be expected.

I believe this is related to the ABI/API breaking changes. If you are using this branch directly in rolling, then you would also need to use the master branch of ros2_controllers, control_msgs, and control_toolbox packages

[bmagyar]

There's a conflict to resolve sir!

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 87.79%. Comparing base (86dd7d2) to head (9360c10).

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1451   +/-   ##
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  Coverage   87.79%   87.79%           
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  Files         102      102           
  Lines        8764     8766    +2     
  Branches      787      787           
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+ Hits         7694     7696    +2     
  Misses        792      792           
  Partials      278      278           

Flag	Coverage Δ
unittests	87.79% <100.00%> (+<0.01%)	⬆️

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Files	Coverage Δ
hardware_interface/src/resource_manager.cpp	73.63% <100.00%> (+0.07%)	⬆️

[saikishor]

There's a conflict to resolve sir!

@bmagyar Fixed!

[destogl]

You are here protecting loading and set_state; from your explanation, you also want to protect read/write access. So I am not sure how this fix is related, but I am probably missing some detail.

Besides that, something for the future. We should probably have a similar approach with two lists for the controller and also for hardware to enable more dynamics everywhere.

[saikishor]

You are here protecting loading and set_state; from your explanation, you also want to protect read/write access. So I am not sure how this fix is related, but I am probably missing some detail.

Besides that, something for the future. We should probably have a similar approach with two lists for the controller and also for hardware to enable more dynamics everywhere.

@destogl Yes, the thing is the resource manager was trying to execute the components while changing their state, so the set_states need to be protected. This wouldn't happen with the parameter, because they are initialized at the construction time and then we run read and write cycles, but with the topic, the components are loaded in a nonRT thread, while the RT thread is still doing the job. So, this is causing the segfault. @firesurfer confirmed that the fix worked for him. So, I think it makes sense to have them.

I agree with you regarding the 2 lists. We can try to implement it in the near future.

Thank you!