@thomas-moulard Can you please run CI for this PR? Unfortunately we cannot restrict the test or build packages very much.

Gist: https://gist.githubusercontent.com/emersonknapp/c3646b3d48b6ad07b1c9144eac98dff7/raw/fdc4bae8a7a945f689c6748cf6fc66187b61df5c/ros2.repos
Additional BUILD args: --packages-up-to test_rclcpp test_communication test_cli test_cli_remapping rclpy
Additional TEST args: --packages-up-to test_rclcpp test_communication test_cli test_cli_remapping rclpy
CI Job: ci_launcher

• Linux
• Linux-aarch64
• macOS
• Windows

Any thoughts on how to unit test this? I am not able to reproduce the observed problem in a toy example - only in the context of a specific system dynamically linking against OpenSSL, using an optimized build of glibc6

@thomas-moulard The build failed because my arguments were wrong - the test and build args should have been:

--packages-up-to test_rclcpp test_communication test_cli test_cli_remapping rclpy

• Linux
• Linux-aarch64
• macOS
• Windows
  Triggering a new build of ci_linux

What about instantiating a static allocator in the unit test and checking the addresses are actually aligned?
Obviously a repro-case would be best, but it will be hard to write. I think we can find a trade-off there between repro-case and no tests.

In general, looks good to me. It might fix aarch64 too, since we've had alignment issue on ARM in the past. Thanks for looking into it, I know the code is hairy :x

@wjwwood I've addressed the formatting concerns and added in the statics. I'm looking at test_memory_tools.cpp and trying to figure how to add a unit test for static_allocator.hpp, which is buried in the source directory. Any ideas on that without having to restructure the project?

Other than that, it looks like the test failures on CI were test_cli.test_params_yaml timeout - which I am getting locally with or without this chage (btw do you know if there is an open issue for that? if not should I open it on system_tests? i think it's one of those things we keep seeing)

I've just pushed a commit that is an attempt at exposing the src dir to the tests without restructuring things - lmk if this is ok or if it's a kludge - I wouldn't consider myself enough of a CMake expert to determine.

Other than that, it looks like the test failures on CI were test_cli.test_params_yaml timeout - which I am getting locally with or without this chage (btw do you know if there is an open issue for that? if not should I open it on system_tests? i think it's one of those things we keep seeing)

Here's the issue for the known flake ros2/build_farmer#166

Testing rclcpp and test_rclcpp:

• Linux
• Linux-aarch64
• macOS
• Windows

Regarding time source test failures in above - I am able to reproduce those locally on master ros2.repos without this patch.

As for this patch, I believe the only packages this really affects are rcl and rcutils, because from my understanding those are the only packages whose tests LD_PRELOAD the memory_tools_interpose.so library. (Those are only packages that mention the LIBRARY_PRELOAD_ENVIRONMENT_VARIABLE property exported from here)

Locally, if I run the rcl tests without this patch on master ros2.repos, I get segfaults in the following tests

The following tests FAILED:                                                                                                                                                                                                     
          8 - test_time__rmw_fastrtps_cpp (Failed)                                                                                                                                                                              
         10 - test_context__rmw_fastrtps_cpp (Failed)                                                                                                                                                                           
         17 - test_init__rmw_fastrtps_cpp (Failed)                                                                                                                                                                              
         18 - test_node__rmw_fastrtps_cpp (Failed)                                                                                                                                                                              
         22 - test_guard_condition__rmw_fastrtps_cpp (Failed)                                                                                                                                                                   
         32 - test_time__rmw_fastrtps_dynamic_cpp (Failed)                                                                                                                                                                      
         34 - test_context__rmw_fastrtps_dynamic_cpp (Failed)                                                                                                                                                                   
         41 - test_init__rmw_fastrtps_dynamic_cpp (Failed)                                                                                                                                                                      
         42 - test_node__rmw_fastrtps_dynamic_cpp (Failed)                                                                                                                                                                      
         46 - test_guard_condition__rmw_fastrtps_dynamic_cpp (Failed)                                                                                                                                                           
Errors while running CTest                                                                                                                                                                                                      
--- stderr: rcl                                                                                                                                                                                                                 
Errors while running CTest                                                           

But with this patch, 100% of rcl tests pass.

I don't know if the buildfarm is witnessing the same segfaults - it is possible that it is a very subtle combination of variables. It would be nice to see the current state of master compared to this build for rcl and rcutils

In addition to the current state of master I've also triggered a build with Fast-RTPS 1.7 to see if the time source test failures are coming from something introduced in Fast-RTPS 1.8.

Linux CI

• master:
• this PR:
• this PR + Fast-RTPS 1.7

I guess after ros2/rmw_fastrtps#272, we can't expect Fast-RTPS 1.7 to build.

Edit: I've re-triggered with rmw_fastrtps HEAD~1

The CI results are a strict improvement over the current master. Merging...