An rcl_event_t might be destroyed while a waitset is still using it #760
Comments
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ros-visualization/rqt_topic#30 is probably also caused by this. |
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Minimal reproducible example: #!/usr/bin/env python3
import threading
import time
import rclpy
import rclpy.node
import std_msgs.msg
def thread2(node):
while True:
sub = node.create_subscription(
std_msgs.msg.Bool,
"rclpy_760_mre",
lambda msg: None,
10)
time.sleep(0.01)
node.destroy_subscription(sub)
def main():
rclpy.init()
node = rclpy.node.Node("rclpy_760_mre")
thread = threading.Thread(target=thread2, args=(node,), daemon=True)
thread.start()
rclpy.spin(node)
rclpy.shutdown()
thread.join()
if __name__ == '__main__':
main() |
|
confirmed that #761 can fix #760 (comment) |
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Bug report
Required Info:
I also tried if Convert Publisher and Subscription to use C++ Classes #756 fixed the issue.
Steps to reproduce issue
Go to
Plugins->Logging->ConsoleClose the console plugin.
Expected behavior
No segfault.
Actual behavior
The spinning thread segfaults after this line.
Segfaulting thread traceback
Other threads traceback (for completeness, nothing worth reading here)
Additional information
I'm pretty sure that the issue is that we're making sure that subscription handles are alive:
rclpy/rclpy/rclpy/executors.py
Line 518 in 4e6695f
but we're not doing something equivalent for waitables.
We could add an
enter_context(context)to the waitable interface, though that looks a bit weird.I also think #757 is needed to solve the issue, though it doesn't completely solve it.
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