Keep callback-group guard conditions alive in Executor#3114
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ralwing wants to merge 2 commits intoros2:humblefrom
Open
Keep callback-group guard conditions alive in Executor#3114ralwing wants to merge 2 commits intoros2:humblefrom
ralwing wants to merge 2 commits intoros2:humblefrom
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Store callback-group notify guard conditions in the executor map with shared ownership instead of raw pointers. This prevents guard conditions from being finalized while still referenced by the memory strategy during wait set rebuilds, avoiding intermittent 'failed to add guard condition to wait set: guard condition implementation is invalid' crashes under callback-group destruction races. (cherry picked from commit 7c8ce04) Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>
Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>
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Description
This pull request updates the
ExecutorEntitiesCollectorclass to improve the management of guard condition pointers. The most important change is switching from weak pointers to shared pointers for guard conditions in internal maps, which helps prevent premature destruction and potential use-after-free errors.Pointer management improvements:
WeakNodesToGuardConditionsMapandWeakGroupsToGuardConditionsMapfromrclcpp::GuardCondition::WeakPtrtorclcpp::GuardCondition::SharedPtrinexecutor_entities_collector.hpp. This ensures guard conditions remain alive as long as they're needed by the executor.Fixes #2163 autowarefoundation/autoware_core#694 ros2/rmw_zenoh#608 autowarefoundation/autoware_universe#6452
According to #2820 (comment) it's already fixed in rolling 2025.4
Is this user-facing behavior change?
This breaks the downstream ABI. All libraries must be rebuilt.
Did you use Generative AI?
I used GitHub Copilot model Claude-Opus: 4.6