lock order inversion between GraphListener and Context in action clients #2946
Description
Generated by Generative AI
No
Operating System:
Linux ddccc47a01b6 6.8.0-79-generic #79-Ubuntu SMP PREEMPT_DYNAMIC Tue Aug 12 14:42:46 UTC 2025 x86_64 x86_64 x86_64 GNU/Linux
ROS version or commit hash:
iron, jazzy, rolling
RMW implementation (if applicable):
rmw_fastrtps_cpp
RMW Configuration (if applicable):
No response
Client library (if applicable):
rclcpp
'ros2 doctor --report' output
ros2 doctor --report
NETWORK CONFIGURATION
inet : 127.0.0.1
inet4 : ['127.0.0.1']
inet6 : ['::1']
netmask : 255.0.0.0
device : lo
flags : 73<LOOPBACK,RUNNING,UP>
mtu : 65536
inet : 172.17.0.4
inet4 : ['172.17.0.4']
ether : a2:cb:a5:a8:c9:9a
netmask : 255.255.0.0
device : eth0
flags : 4163<RUNNING,BROADCAST,UP,MULTICAST>
mtu : 1500
broadcast : 172.17.255.255
PACKAGE VERSIONS
rosidl_default_runtime : latest=1.6.0, local=1.6.0
builtin_interfaces : latest=2.0.3, local=2.0.2
rmw : latest=7.3.2, local=7.3.2
rcl_logging_spdlog : latest=3.1.1, local=3.1.1
unique_identifier_msgs : latest=2.5.0, local=2.5.0
stereo_msgs : latest=5.3.6, local=5.3.6
type_description_interfaces : latest=2.0.3, local=2.0.2
launch_xml : latest=3.4.6, local=3.4.4
ros2doctor : latest=0.32.5, local=0.32.4
uncrustify_vendor : latest=3.0.1, local=3.0.1
rosidl_parser : latest=4.6.6, local=4.6.5
ament_cppcheck : latest=0.17.3, local=0.17.2
rosidl_adapter : latest=4.6.6, local=4.6.5
rosgraph_msgs : latest=2.0.3, local=2.0.2
launch : latest=3.4.6, local=3.4.4
rosidl_dynamic_typesupport_fastrtps : latest=0.1.0, local=0.1.0
rmw_fastrtps_cpp : latest=8.4.3, local=8.4.2
nav_msgs : latest=5.3.6, local=5.3.6
ros_workspace : latest=1.0.3, local=1.0.3
ament_cmake_copyright : latest=0.17.3, local=0.17.2
rmw_fastrtps_shared_cpp : latest=8.4.3, local=8.4.2
rosidl_typesupport_c : latest=3.2.2, local=3.2.2
ros2node : latest=0.32.5, local=0.32.4
ament_cmake_export_include_directories : latest=2.5.4, local=2.5.4
geometry_msgs : latest=5.3.6, local=5.3.6
rcl_interfaces : latest=2.0.3, local=2.0.2
ros2param : latest=0.32.5, local=0.32.4
rclcpp_lifecycle : latest=28.1.11, local=28.1.9
rosidl_cli : latest=4.6.6, local=4.6.5
rpyutils : latest=0.4.1, local=0.4.1
ros2launch : latest=0.26.8, local=0.26.7
ros_core : latest=0.11.0, local=0.11.0
statistics_msgs : latest=2.0.3, local=2.0.2
ros2run : latest=0.32.5, local=0.32.4
trajectory_msgs : latest=5.3.6, local=5.3.6
ament_cmake : latest=2.5.4, local=2.5.4
visualization_msgs : latest=5.3.6, local=5.3.6
libyaml_vendor : latest=1.6.3, local=1.6.3
ament_cmake_lint_cmake : latest=0.17.3, local=0.17.2
rosidl_typesupport_fastrtps_c : latest=3.6.2, local=3.6.1
rcutils : latest=6.7.4, local=6.7.2
rosidl_core_generators : latest=0.2.0, local=0.2.0
ros2topic : latest=0.32.5, local=0.32.4
ament_cmake_include_directories : latest=2.5.4, local=2.5.4
ament_cmake_export_targets : latest=2.5.4, local=2.5.4
std_msgs : latest=5.3.6, local=5.3.6
ament_index_python : latest=1.8.1, local=1.8.1
ament_copyright : latest=0.17.3, local=0.17.2
ament_xmllint : latest=0.17.3, local=0.17.2
ament_lint_common : latest=0.17.3, local=0.17.2
ament_cmake_version : latest=2.5.4, local=2.5.4
rcl_lifecycle : latest=9.2.7, local=9.2.6
pluginlib : latest=5.4.2, local=5.4.2
ament_pep257 : latest=0.17.3, local=0.17.2
rosidl_default_generators : latest=1.6.0, local=1.6.0
rmw_dds_common : latest=3.1.0, local=3.1.0
ros_environment : latest=4.2.1, local=4.2.1
ament_package : latest=0.16.4, local=0.16.4
ament_cmake_gtest : latest=2.5.4, local=2.5.4
shape_msgs : latest=5.3.6, local=5.3.6
ament_cmake_gmock : latest=2.5.4, local=2.5.4
ros2interface : latest=0.32.5, local=0.32.4
libstatistics_collector : latest=1.7.4, local=1.7.4
rosidl_generator_c : latest=4.6.6, local=4.6.5
console_bridge_vendor : latest=1.7.1, local=1.7.1
fastrtps_cmake_module : latest=3.6.2, local=3.6.1
rmw_implementation_cmake : latest=7.3.2, local=7.3.2
rosidl_runtime_py : latest=0.13.1, local=0.13.1
ament_cmake_pytest : latest=2.5.4, local=2.5.4
rosidl_typesupport_introspection_cpp : latest=4.6.6, local=4.6.5
launch_testing : latest=3.4.6, local=3.4.4
ament_cmake_uncrustify : latest=0.17.3, local=0.17.2
class_loader : latest=2.7.0, local=2.7.0
ament_cmake_auto : latest=2.5.4, local=2.5.4
rmw_implementation : latest=2.15.6, local=2.15.5
common_interfaces : latest=5.3.6, local=5.3.6
launch_ros : latest=0.26.8, local=0.26.7
sensor_msgs : latest=5.3.6, local=5.3.6
diagnostic_msgs : latest=5.3.6, local=5.3.6
rosidl_typesupport_interface : latest=4.6.6, local=4.6.5
launch_testing_ros : latest=0.26.8, local=0.26.7
ament_cmake_export_libraries : latest=2.5.4, local=2.5.4
ament_cpplint : latest=0.17.3, local=0.17.2
actionlib_msgs : latest=5.3.6, local=5.3.6
ament_lint_cmake : latest=0.17.3, local=0.17.2
rosidl_runtime_cpp : latest=4.6.6, local=4.6.5
rcl_action : latest=9.2.7, local=9.2.6
rosidl_dynamic_typesupport : latest=0.1.2, local=0.1.2
lifecycle_msgs : latest=2.0.3, local=2.0.2
launch_yaml : latest=3.4.6, local=3.4.4
rosidl_core_runtime : latest=0.2.0, local=0.2.0
rclcpp_action : latest=28.1.11, local=28.1.9
rosidl_cmake : latest=4.6.6, local=4.6.5
rclcpp_components : latest=28.1.11, local=28.1.9
ament_uncrustify : latest=0.17.3, local=0.17.2
ament_cmake_python : latest=2.5.4, local=2.5.4
ros2service : latest=0.32.5, local=0.32.4
rosidl_typesupport_introspection_c : latest=4.6.6, local=4.6.5
ament_cmake_core : latest=2.5.4, local=2.5.4
ament_cmake_export_definitions : latest=2.5.4, local=2.5.4
spdlog_vendor : latest=1.6.1, local=1.6.1
rclpy : latest=7.1.5, local=7.1.4
ament_cmake_pep257 : latest=0.17.3, local=0.17.2
sros2_cmake : latest=0.13.4, local=0.13.3
rcpputils : latest=2.11.2, local=2.11.2
rosidl_generator_cpp : latest=4.6.6, local=4.6.5
ament_lint_auto : latest=0.17.3, local=0.17.2
launch_testing_ament_cmake : latest=3.4.6, local=3.4.4
osrf_pycommon : latest=2.1.7, local=2.1.6
rcl : latest=9.2.7, local=9.2.6
tinyxml2_vendor : latest=0.9.1, local=0.9.1
std_srvs : latest=5.3.6, local=5.3.6
ros2cli_common_extensions : latest=0.3.0, local=0.3.0
ament_cmake_export_link_flags : latest=2.5.4, local=2.5.4
domain_coordinator : latest=0.12.0, local=0.12.0
ament_cmake_export_interfaces : latest=2.5.4, local=2.5.4
rosidl_typesupport_cpp : latest=3.2.2, local=3.2.2
rosidl_generator_type_description : latest=4.6.6, local=4.6.5
ros2action : latest=0.32.5, local=0.32.4
ament_cmake_cppcheck : latest=0.17.3, local=0.17.2
sros2 : latest=0.13.4, local=0.13.3
ament_lint : latest=0.17.3, local=0.17.2
ament_cmake_cpplint : latest=0.17.3, local=0.17.2
ament_cmake_gen_version_h : latest=2.5.4, local=2.5.4
ament_cmake_ros : latest=0.12.0, local=0.12.0
ament_cmake_flake8 : latest=0.17.3, local=0.17.2
service_msgs : latest=2.0.3, local=2.0.2
ament_flake8 : latest=0.17.3, local=0.17.2
rosidl_typesupport_fastrtps_cpp : latest=3.6.2, local=3.6.1
ros2pkg : latest=0.32.5, local=0.32.4
ament_cmake_test : latest=2.5.4, local=2.5.4
ament_cmake_target_dependencies : latest=2.5.4, local=2.5.4
python_cmake_module : latest=0.11.1, local=0.11.1
rosidl_pycommon : latest=4.6.6, local=4.6.5
ament_cmake_libraries : latest=2.5.4, local=2.5.4
ros2lifecycle : latest=0.32.5, local=0.32.4
rclcpp : latest=28.1.11, local=28.1.9
tracetools : latest=8.2.4, local=8.2.3
rosidl_generator_py : latest=0.22.1, local=0.22.1
ros2cli : latest=0.32.5, local=0.32.4
rcl_logging_interface : latest=3.1.1, local=3.1.1
rosidl_runtime_c : latest=4.6.6, local=4.6.5
ament_cmake_export_dependencies : latest=2.5.4, local=2.5.4
rcl_yaml_param_parser : latest=9.2.7, local=9.2.6
ros2multicast : latest=0.32.5, local=0.32.4
composition_interfaces : latest=2.0.3, local=2.0.2
action_msgs : latest=2.0.3, local=2.0.2
ament_index_cpp : latest=1.8.1, local=1.8.1
ros2component : latest=0.32.5, local=0.32.4
ament_cmake_xmllint : latest=0.17.3, local=0.17.2
nav_2d_utils : latest=1.3.8, local=1.3.6
nav2_velocity_smoother : latest=1.3.8, local=1.3.6
opennav_docking : latest=1.3.8, local=1.3.6
nav2_core : latest=1.3.8, local=1.3.6
nav2_smac_planner : latest=1.3.8, local=1.3.6
nav2_dwb_controller : latest=1.3.8, local=1.3.6
dwb_core : latest=1.3.8, local=1.3.6
nav2_graceful_controller : latest=1.3.8, local=1.3.6
nav2_mppi_controller : latest=1.3.8, local=1.3.6
nav2_rviz_plugins : latest=1.3.8, local=1.3.6
nav2_voxel_grid : latest=1.3.8, local=1.3.6
nav2_behaviors : latest=1.3.8, local=1.3.6
opennav_docking_bt : latest=1.3.8, local=1.3.6
nav2_waypoint_follower : latest=1.3.8, local=1.3.6
nav2_navfn_planner : latest=1.3.8, local=1.3.6
nav2_collision_monitor : latest=1.3.8, local=1.3.6
nav2_amcl : latest=1.3.8, local=1.3.6
dwb_plugins : latest=1.3.8, local=1.3.6
nav2_regulated_pure_pursuit_controller : latest=1.3.8, local=1.3.6
bondcpp : latest=4.1.2, local=4.1.2
dwb_critics : latest=1.3.8, local=1.3.6
robot_localization : latest=3.8.3, local=3.8.2
nav2_lifecycle_manager : latest=1.3.8, local=1.3.6
nav2_costmap_2d : latest=1.3.8, local=1.3.6
nav2_bt_navigator : latest=1.3.8, local=1.3.6
nav_2d_msgs : latest=1.3.8, local=1.3.6
nav2_simple_commander : latest=1.3.8, local=1.3.6
dwb_msgs : latest=1.3.8, local=1.3.6
geographic_msgs : latest=1.0.6, local=1.0.6
nav2_theta_star_planner : latest=1.3.8, local=1.3.6
nav2_planner : latest=1.3.8, local=1.3.6
smclib : latest=4.1.2, local=4.1.2
nav2_constrained_smoother : latest=1.3.8, local=1.3.6
nav2_controller : latest=1.3.8, local=1.3.6
nav2_smoother : latest=1.3.8, local=1.3.6
navigation2 : latest=1.3.8, local=1.3.6
nav2_util : latest=1.3.8, local=1.3.6
costmap_queue : latest=1.3.8, local=1.3.6
bond : latest=4.1.2, local=4.1.2
opennav_docking_core : latest=1.3.8, local=1.3.6
nav2_map_server : latest=1.3.8, local=1.3.6
nav2_rotation_shim_controller : latest=1.3.8, local=1.3.6
nav2_behavior_tree : latest=1.3.8, local=1.3.6
nav2_common : latest=1.3.8, local=1.3.6
nav2_msgs : latest=1.3.8, local=1.3.6
behaviortree_cpp : latest=4.7.1, local=4.7.1
ompl : latest=1.7.0, local=1.7.0
rmw_cyclonedds_cpp : latest=2.2.3, local=2.2.3
qt_gui_app : latest=2.7.5, local=2.7.5
rqt : latest=1.6.0, local=1.6.0
rqt_joint_trajectory_controller : latest=4.31.0, local=4.25.0
ros2_control_test_assets : latest=4.36.0, local=4.29.0
tcb_span : latest=1.0.2, local=1.0.2
diagnostic_updater : latest=4.2.6, local=4.2.4
pal_statistics_msgs : latest=2.6.4, local=2.6.2
rqt_dotgraph : latest=0.0.4, local=0.0.4
rqt_robot_steering : latest=2.0.0, local=1.0.1
controller_manager_msgs : latest=4.36.0, local=4.29.0
gz_tools_vendor : latest=0.0.7, local=0.0.6
rqt_gauges : latest=0.0.3, local=0.0.3
tl_expected : latest=1.0.2, local=1.0.2
qt_gui_core : latest=2.7.5, local=2.7.5
generate_parameter_library_py : latest=0.5.0, local=0.4.0
rqt_robot_dashboard : latest=0.6.1, local=0.6.1
controller_interface : latest=4.36.0, local=4.29.0
generate_parameter_library : latest=0.5.0, local=0.4.0
realtime_tools : latest=3.7.0, local=3.5.1
sdformat_vendor : latest=0.0.10, local=0.0.9
rqt_robot_monitor : latest=1.0.6, local=1.0.6
rqt_moveit : latest=1.0.1, local=1.0.1
rqt_image_overlay_layer : latest=0.4.0, local=0.4.0
sdformat_urdf : latest=1.0.2, local=1.0.2
joint_limits : latest=4.36.0, local=4.29.0
parameter_traits : latest=0.5.0, local=0.4.0
hardware_interface : latest=4.36.0, local=4.29.0
ros_image_to_qimage : latest=0.4.1, local=0.4.1
rqt_image_overlay : latest=0.4.0, local=0.4.0
rqt_controller_manager : latest=4.36.0, local=4.29.0
pal_statistics : latest=2.6.4, local=2.6.2
control_msgs : latest=5.5.0, local=5.4.0
rqt_runtime_monitor : latest=1.0.0, local=1.0.0
rqt_tf_tree : latest=1.0.5, local=1.0.5
controller_manager : latest=4.36.0, local=4.29.0
rviz_visual_testing_framework : latest=14.1.14, local=14.1.11
action_tutorials_py : latest=0.33.6, local=0.33.5
python_qt_binding : latest=2.2.1, local=2.2.1
action_tutorials_interfaces : latest=0.33.6, local=0.33.5
quality_of_service_demo_py : latest=0.33.6, local=0.33.5
examples_rclpy_minimal_subscriber : latest=0.19.6, local=0.19.5
rqt_common_plugins : latest=1.2.0, local=1.2.0
gz_math_vendor : latest=0.0.8, local=0.0.8
demo_nodes_cpp_native : latest=0.33.6, local=0.33.5
tango_icons_vendor : latest=0.3.0, local=0.3.0
rqt_publisher : latest=1.7.2, local=1.7.2
examples_rclpy_minimal_action_server : latest=0.19.6, local=0.19.5
turtlesim : latest=1.8.3, local=1.8.3
intra_process_demo : latest=0.33.6, local=0.33.5
action_tutorials_cpp : latest=0.33.6, local=0.33.5
pendulum_msgs : latest=0.33.6, local=0.33.5
interactive_markers : latest=2.5.4, local=2.5.4
angles : latest=1.16.0, local=1.16.0
teleop_twist_keyboard : latest=2.4.0, local=2.4.0
examples_rclcpp_minimal_publisher : latest=0.19.6, local=0.19.5
teleop_twist_joy : latest=2.6.5, local=2.6.3
pcl_conversions : latest=2.6.2, local=2.6.2
examples_rclcpp_minimal_action_server : latest=0.19.6, local=0.19.5
examples_rclcpp_minimal_action_client : latest=0.19.6, local=0.19.5
examples_rclpy_minimal_service : latest=0.19.6, local=0.19.5
joy : latest=3.3.0, local=3.3.0
examples_rclcpp_minimal_subscriber : latest=0.19.6, local=0.19.5
image_transport : latest=5.1.7, local=5.1.6
logging_demo : latest=0.33.6, local=0.33.5
rqt_bag_plugins : latest=1.5.5, local=1.5.4
cv_bridge : latest=4.1.0, local=4.1.0
rqt_gui_cpp : latest=1.6.0, local=1.6.0
rqt_console : latest=2.2.1, local=2.2.1
rqt_graph : latest=1.5.5, local=1.5.4
rqt_gui_py : latest=1.6.0, local=1.6.0
examples_rclpy_executors : latest=0.19.6, local=0.19.5
examples_rclpy_minimal_client : latest=0.19.6, local=0.19.5
rqt_msg : latest=1.5.1, local=1.5.1
qt_gui_py_common : latest=2.7.5, local=2.7.5
demo_nodes_py : latest=0.33.6, local=0.33.5
point_cloud_transport : latest=4.0.4, local=4.0.4
rqt_action : latest=2.2.0, local=2.2.0
map_msgs : latest=2.4.1, local=2.4.1
resource_retriever : latest=3.4.4, local=3.4.4
rqt_service_caller : latest=1.2.1, local=1.2.1
gz_utils_vendor : latest=0.0.5, local=0.0.5
depthimage_to_laserscan : latest=2.5.1, local=2.5.1
rttest : latest=0.17.1, local=0.17.1
rqt_reconfigure : latest=1.6.2, local=1.6.2
composition : latest=0.33.6, local=0.33.5
rviz_rendering : latest=14.1.14, local=14.1.11
example_interfaces : latest=0.12.0, local=0.12.0
examples_rclcpp_minimal_composition : latest=0.19.6, local=0.19.5
rqt_image_view : latest=1.3.0, local=1.3.0
rqt_shell : latest=1.2.2, local=1.2.2
examples_rclcpp_minimal_client : latest=0.19.6, local=0.19.5
image_tools : latest=0.33.6, local=0.33.5
qt_gui : latest=2.7.5, local=2.7.5
rqt_topic : latest=1.7.3, local=1.7.3
lifecycle : latest=0.33.6, local=0.33.5
examples_rclcpp_multithreaded_executor : latest=0.19.6, local=0.19.5
image_geometry : latest=4.1.0, local=4.1.0
libcurl_vendor : latest=3.4.4, local=3.4.4
rviz_ogre_vendor : latest=14.1.14, local=14.1.11
pcl_msgs : latest=1.0.0, local=1.0.0
rqt_gui : latest=1.6.0, local=1.6.0
examples_rclcpp_minimal_timer : latest=0.19.6, local=0.19.5
pendulum_control : latest=0.33.6, local=0.33.5
topic_monitor : latest=0.33.6, local=0.33.5
examples_rclcpp_minimal_service : latest=0.19.6, local=0.19.5
rqt_srv : latest=1.2.2, local=1.2.2
rqt_plot : latest=1.4.4, local=1.4.3
dummy_map_server : latest=0.33.6, local=0.33.5
gz_cmake_vendor : latest=0.0.10, local=0.0.9
demo_nodes_cpp : latest=0.33.6, local=0.33.5
laser_geometry : latest=2.7.1, local=2.7.0
qt_dotgraph : latest=2.7.5, local=2.7.5
dummy_robot_bringup : latest=0.33.6, local=0.33.5
rqt_bag : latest=1.5.5, local=1.5.4
examples_rclpy_minimal_publisher : latest=0.19.6, local=0.19.5
desktop : latest=0.11.0, local=0.11.0
rviz_common : latest=14.1.14, local=14.1.11
quality_of_service_demo_cpp : latest=0.33.6, local=0.33.5
tlsf : latest=0.9.0, local=0.9.0
qt_gui_cpp : latest=2.7.5, local=2.7.5
rviz2 : latest=14.1.14, local=14.1.11
dummy_sensors : latest=0.33.6, local=0.33.5
rqt_py_console : latest=1.2.2, local=1.2.2
sdl2_vendor : latest=3.3.0, local=3.3.0
rviz_default_plugins : latest=14.1.14, local=14.1.11
tlsf_cpp : latest=0.17.1, local=0.17.1
examples_rclpy_minimal_action_client : latest=0.19.6, local=0.19.5
rviz_assimp_vendor : latest=14.1.14, local=14.1.11
rqt_py_common : latest=1.6.0, local=1.6.0
rosbag2_interfaces : latest=0.26.9, local=0.26.7
tf2_sensor_msgs : latest=0.36.14, local=0.36.11
rosbag2_transport : latest=0.26.9, local=0.26.7
tf2_eigen_kdl : latest=0.36.14, local=0.36.11
tf2_py : latest=0.36.14, local=0.36.11
rosbag2_storage_mcap : latest=0.26.9, local=0.26.7
rosbag2_compression_zstd : latest=0.26.9, local=0.26.7
urdf_parser_plugin : latest=2.10.0, local=2.10.0
tf2_ros_py : latest=0.36.14, local=0.36.11
rosbag2_compression : latest=0.26.9, local=0.26.7
geometry2 : latest=0.36.14, local=0.36.11
pybind11_vendor : latest=3.1.3, local=3.1.3
robot_state_publisher : latest=3.3.3, local=3.3.3
ros2bag : latest=0.26.9, local=0.26.7
ros_base : latest=0.11.0, local=0.11.0
eigen3_cmake_module : latest=0.3.0, local=0.3.0
rosbag2 : latest=0.26.9, local=0.26.7
zstd_vendor : latest=0.26.9, local=0.26.7
message_filters : latest=4.11.7, local=4.11.6
tf2 : latest=0.36.14, local=0.36.11
kdl_parser : latest=2.11.0, local=2.11.0
rosbag2_cpp : latest=0.26.9, local=0.26.7
liblz4_vendor : latest=0.26.9, local=0.26.7
tf2_ros : latest=0.36.14, local=0.36.11
tf2_kdl : latest=0.36.14, local=0.36.11
python_orocos_kdl_vendor : latest=0.5.1, local=0.5.1
tf2_msgs : latest=0.36.14, local=0.36.11
rosbag2_storage : latest=0.26.9, local=0.26.7
urdf : latest=2.10.0, local=2.10.0
rosbag2_storage_default_plugins : latest=0.26.9, local=0.26.7
tf2_tools : latest=0.36.14, local=0.36.11
tf2_geometry_msgs : latest=0.36.14, local=0.36.11
tf2_bullet : latest=0.36.14, local=0.36.11
sensor_msgs_py : latest=5.3.6, local=5.3.6
tf2_eigen : latest=0.36.14, local=0.36.11
rosbag2_storage_sqlite3 : latest=0.26.9, local=0.26.7
mcap_vendor : latest=0.26.9, local=0.26.7
yaml_cpp_vendor : latest=9.0.1, local=9.0.1
sqlite3_vendor : latest=0.26.9, local=0.26.7
keyboard_handler : latest=0.3.1, local=0.3.1
rosbag2_py : latest=0.26.9, local=0.26.7
orocos_kdl_vendor : latest=0.5.1, local=0.5.1
PLATFORM INFORMATION
system : Linux
platform info : Linux-6.8.0-79-generic-x86_64-with-glibc2.39
release : 6.8.0-79-generic
processor : x86_64
QOS COMPATIBILITY LIST
compatibility status : No publisher/subscriber pairs found
RMW MIDDLEWARE
middleware name : rmw_fastrtps_cpp
ROS 2 INFORMATION
distribution name : jazzy
distribution type : ros2
distribution status : active
release platforms : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}
TOPIC LIST
topic : none
publisher count : 0
subscriber count : 0Steps to reproduce issue
- Clone this minimal example. (A generalized excerpt from https://github.com/irobot-ros/rclcpp/blob/irobot/jazzy/rclcpp_action/test/test_actions.hpp)
- Build it with
colcon build --mixin tsan(make sure default colcon mixins are installed) - On your host, run
sudo sysctl vm.mmap_rnd_bits=30 - Run the executable via
TSAN_OPTIONS="second_deadlock_stack=1" ./build/lock_order_inversion/lock_order_inv - tsan will give the following error for lock order inversion (Among one other data race issue)
==================
WARNING: ThreadSanitizer: lock-order-inversion (potential deadlock) (pid=375)
Cycle in lock order graph: M0 (0x724c00002c08) => M1 (0x7254000003d0) => M0
Mutex M1 acquired here while holding mutex M0 in thread T16:
#0 pthread_mutex_lock ../../../../src/libsanitizer/tsan/tsan_interceptors_posix.cpp:1341 (libtsan.so.2+0x59a13) (BuildId: 38097064631f7912bd33117a9c83d08b42e15571)
#1 rclcpp::Context::add_on_shutdown_callback(std::function<void ()>) <null> (librclcpp.so+0xf46a8) (BuildId: 6314972b7a8b33e0e7147aa214d60c6e7ad29be2)
#2 <null> <null> (libstdc++.so.6+0xecdb3) (BuildId: ca77dae775ec87540acd7218fa990c40d1c94ab1)
Mutex M0 previously acquired by the same thread here:
#0 pthread_mutex_lock ../../../../src/libsanitizer/tsan/tsan_interceptors_posix.cpp:1341 (libtsan.so.2+0x59a13) (BuildId: 38097064631f7912bd33117a9c83d08b42e15571)
#1 rclcpp::graph_listener::GraphListener::start_if_not_started() <null> (librclcpp.so+0x128e35) (BuildId: 6314972b7a8b33e0e7147aa214d60c6e7ad29be2)
#2 <null> <null> (libstdc++.so.6+0xecdb3) (BuildId: ca77dae775ec87540acd7218fa990c40d1c94ab1)
Mutex M0 acquired here while holding mutex M1 in main thread:
#0 pthread_mutex_lock ../../../../src/libsanitizer/tsan/tsan_interceptors_posix.cpp:1341 (libtsan.so.2+0x59a13) (BuildId: 38097064631f7912bd33117a9c83d08b42e15571)
#1 rclcpp::graph_listener::GraphListener::__shutdown() <null> (librclcpp.so+0x129e29) (BuildId: 6314972b7a8b33e0e7147aa214d60c6e7ad29be2)
#2 rclcpp::contexts::get_global_default_context() <null> (librclcpp.so+0x1022ad) (BuildId: 6314972b7a8b33e0e7147aa214d60c6e7ad29be2)
Mutex M1 previously acquired by the same thread here:
#0 pthread_mutex_lock ../../../../src/libsanitizer/tsan/tsan_interceptors_posix.cpp:1341 (libtsan.so.2+0x59a13) (BuildId: 38097064631f7912bd33117a9c83d08b42e15571)
#1 <null> <null> (librclcpp.so+0xf1c9c) (BuildId: 6314972b7a8b33e0e7147aa214d60c6e7ad29be2)
#2 rclcpp::contexts::get_global_default_context() <null> (librclcpp.so+0x1022ad) (BuildId: 6314972b7a8b33e0e7147aa214d60c6e7ad29be2)
Thread T16 (tid=392, finished) created by main thread at:
#0 pthread_create ../../../../src/libsanitizer/tsan/tsan_interceptors_posix.cpp:1022 (libtsan.so.2+0x5ac1a) (BuildId: 38097064631f7912bd33117a9c83d08b42e15571)
#1 std::thread::_M_start_thread(std::unique_ptr<std::thread::_State, std::default_delete<std::thread::_State> >, void (*)()) <null> (libstdc++.so.6+0xeceb0) (BuildId: ca77dae775ec87540acd7218fa990c40d1c94ab1)
#2 __libc_start_call_main ../sysdeps/nptl/libc_start_call_main.h:58 (libc.so.6+0x2a1c9) (BuildId: 42c84c92e6f98126b3e2230ebfdead22c235b667)
SUMMARY: ThreadSanitizer: lock-order-inversion (potential deadlock) (/opt/ros/jazzy/lib/librclcpp.so+0xf46a8) (BuildId: 6314972b7a8b33e0e7147aa214d60c6e7ad29be2) in rclcpp::Context::add_on_shutdown_callback(std::function<void ()>)
==================
Expected behavior
Mutexes are supposed to lock in a consistent order to prevent deadlocks.
Actual behavior
TSan reports lock order inversion between mutexes in GraphListener and Context
Additional information
In the code, we create an action client, which triggers GraphListener::start_if_not_started() (acquiring M0, then M1)
Later during shutdown, Context::shutdown() is called (acquiring M1, then M0)
This results in a classic lock-order inversion that ThreadSanitizer detects as a potential deadlock.