I realize this is being compiled with C++03, and, thus, the workarounds are not possible, as they require C++11. Here is the faulty code, in roscpp/src/libros/topic_manager.cpp (line 56).

TopicManagerPtr g_topic_manager;
boost::mutex g_topic_manager_mutex;
const TopicManagerPtr& TopicManager::instance()
{
  if (!g_topic_manager)
  {
    boost::mutex::scoped_lock lock(g_topic_manager_mutex);
    if (!g_topic_manager)
    {
      g_topic_manager = boost::make_shared<TopicManager>();
    }
  }

  return g_topic_manager;
}

Double-checked locking as is done here is potentially unsafe; it is possible that a thread may read g_topic_manager before it is fully initialized. Of course, it depends on whether there are multiple threads contesting the access (which I am not sure about).

Is lazy initialization really necessary here?