An rcl_event_t might be destroyed while a waitset is still using it #760
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 20.04 (should be OS independent)
- Installation type:
- from source (it shouldn't matter)
- Version or commit hash:
- 4e6695f
I also tried if Convert Publisher and Subscription to use C++ Classes #756 fixed the issue.
- 4e6695f
- DDS implementation:
- cyclonedds
- Client library (if applicable):
- rclpy
Steps to reproduce issue
ros2 run rqt_gui rqt_gui
Go to Plugins->Logging->Console
Close the console plugin.
Expected behavior
No segfault.
Actual behavior
The spinning thread segfaults after this line.
Segfaulting thread traceback
#0 0x00007f491c43627f in handle_active_events(rmw_events_t*) () from /home/ivanpauno/ros2_ws/install/rmw_cyclonedds_cpp/lib/librmw_cyclonedds_cpp.so
#1 0x00007f491c437014 in rmw_wait () from /home/ivanpauno/ros2_ws/install/rmw_cyclonedds_cpp/lib/librmw_cyclonedds_cpp.so
#2 0x00007f49261038f1 in rcl_wait () from /home/ivanpauno/ros2_ws/install/rcl/lib/librcl.so
#3 0x00007f4926223614 in rclpy::wait(pybind11::capsule, long) () from /home/ivanpauno/ros2_ws/install/rclpy/lib/python3.8/site-packages/rclpy/_rclpy_pybind11.cpython-38-x86_64-linux-gnu.so
#4 0x00007f49261752f1 in void pybind11::detail::argument_loader<pybind11::capsule, long>::call_impl<void, void (*&)(pybind11::capsule, long), 0ul, 1ul, pybind11::detail::void_type>(void (*&)(pybind11::capsule, long), std::integer_sequence<unsigned long, 0ul, 1ul>, pybind11::detail::void_type&&) && () from /home/ivanpauno/ros2_ws/install/rclpy/lib/python3.8/site-packages/rclpy/_rclpy_pybind11.cpython-38-x86_64-linux-gnu.so
#5 0x00007f492616ec08 in std::enable_if<std::is_void<void>::value, pybind11::detail::void_type>::type pybind11::detail::argument_loader<pybind11::capsule, long>::call<void, pybind11::detail::void_type, void (*&)(pybind11::capsule, long)>(void (*&)(pybind11::capsule, long)) && () from /home/ivanpauno/ros2_ws/install/rclpy/lib/python3.8/site-packages/rclpy/_rclpy_pybind11.cpython-38-x86_64-linux-gnu.so
#6 0x00007f49261ad47a in pybind11::cpp_function::initialize<void (*&)(pybind11::capsule, long), void, pybind11::capsule, long, pybind11::name, pybind11::scope, pybind11::sibling, char [12]>(void (*&)(pybind11::capsule, long), void (*)(pybind11::capsule, long), pybind11::name const&, pybind11::scope const&, pybind11::sibling const&, char const (&) [12])::{lambda(pybind11::detail::function_call&)#3}::operator()(pybind11::detail::function_call&) const () from /home/ivanpauno/ros2_ws/install/rclpy/lib/python3.8/site-packages/rclpy/_rclpy_pybind11.cpython-38-x86_64-linux-gnu.so
#7 0x00007f49261ad516 in pybind11::cpp_function::initialize<void (*&)(pybind11::capsule, long), void, pybind11::capsule, long, pybind11::name, pybind11::scope, pybind11::sibling, char [12]>(void (*&)(pybind11::capsule, long), void (*)(pybind11::capsule, long), pybind11::name const&, pybind11::scope const&, pybind11::sibling const&, char const (&) [12])::{lambda(pybind11::detail::function_call&)#3}::_FUN(pybind11::detail::function_call&) () from /home/ivanpauno/ros2_ws/install/rclpy/lib/python3.8/site-packages/rclpy/_rclpy_pybind11.cpython-38-x86_64-linux-gnu.so
#8 0x00007f4926148ab3 in pybind11::cpp_function::dispatcher(_object*, _object*, _object*) () from /home/ivanpauno/ros2_ws/install/rclpy/lib/python3.8/site-packages/rclpy/_rclpy_pybind11.cpython-38-x86_64-linux-gnu.so
#9 0x00000000005f2fb9 in PyCFunction_Call ()
#10 0x00000000005f3446 in _PyObject_MakeTpCall ()
#11 0x000000000056f600 in _PyEval_EvalFrameDefault ()
#12 0x0000000000500793 in ?? ()
#13 0x00000000004f4f53 in ?? ()
#14 0x00000000005c3cb0 in ?? ()
#15 0x0000000000569f5e in _PyEval_EvalFrameDefault ()
#16 0x000000000056822a in _PyEval_EvalCodeWithName ()
#17 0x00000000005f6033 in _PyFunction_Vectorcall ()
#18 0x000000000056a136 in _PyEval_EvalFrameDefault ()
#19 0x000000000056822a in _PyEval_EvalCodeWithName ()
#20 0x00000000005f6033 in _PyFunction_Vectorcall ()
#21 0x000000000056a136 in _PyEval_EvalFrameDefault ()
#22 0x000000000056822a in _PyEval_EvalCodeWithName ()
#23 0x000000000050a3b0 in ?? ()
#24 0x000000000056b115 in _PyEval_EvalFrameDefault ()
#25 0x00000000005f5e56 in _PyFunction_Vectorcall ()
#26 0x000000000050a33c in ?? ()
#27 0x00000000005f2b87 in PyObject_Call ()
#28 0x00007f4922eed42c in ?? () from /usr/lib/python3/dist-packages/sip.cpython-38-x86_64-linux-gnu.so
#29 0x00007f4922eed513 in ?? () from /usr/lib/python3/dist-packages/sip.cpython-38-x86_64-linux-gnu.so
#30 0x00007f49255a10d6 in ?? () from /usr/lib/python3/dist-packages/PyQt5/QtCore.cpython-38-x86_64-linux-gnu.so
#31 0x00007f4924fec9d2 in ?? () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#32 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#33 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Other threads traceback (for completeness, nothing worth reading here)
Thread 15 (Thread 0x7f4909057700 (LWP 2790)):
#0 futex_wait_cancelable (private=<optimized out>, expected=0, futex_word=0x7f48d4000dc8) at ../sysdeps/nptl/futex-internal.h:183
#1 __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x7f48d4000d78, cond=0x7f48d4000da0) at pthread_cond_wait.c:508
#2 __pthread_cond_wait (cond=0x7f48d4000da0, mutex=0x7f48d4000d78) at pthread_cond_wait.c:638
#3 0x00007f491c33149d in ddsrt_cond_wait (cond=<optimized out>, mutex=<optimized out>) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/sync/posix/sync.c:92
#4 0x00007f491c331565 in ddsrt_cond_waituntil (cond=cond@entry=0x7f48d4000da0, mutex=mutex@entry=0x7f48d4000d78, abstime=abstime@entry=9223372036854775807) at /home/ivanpauno/ros2_ws/src/eclipse-cycloned
ds/cyclonedds/src/ddsrt/src/sync/posix/sync.c:108
#5 0x00007f491c31ee2d in dds_waitset_wait_impl (waitset=<optimized out>, xs=0x7f48d4001150, nxs=5, abstimeout=9223372036854775807) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/dd
--Type <RET> for more, q to quit, c to continue without paging--~
sc/src/dds_waitset.c:79
#6 0x00007f491c429ae4 in discovery_thread(rmw_context_impl_t*) () from /home/ivanpauno/ros2_ws/install/rmw_cyclonedds_cpp/lib/librmw_cyclonedds_cpp.so
#7 0x00007f491c49bf0f in void std::__invoke_impl<void, void (*)(rmw_context_impl_t*), rmw_context_impl_t*>(std::__invoke_other, void (*&&)(rmw_context_impl_t*), rmw_context_impl_t*&&) () from /home/ivanp
auno/ros2_ws/install/rmw_cyclonedds_cpp/lib/librmw_cyclonedds_cpp.so
#8 0x00007f491c49be5b in std::__invoke_result<void (*)(rmw_context_impl_t*), rmw_context_impl_t*>::type std::__invoke<void (*)(rmw_context_impl_t*), rmw_context_impl_t*>(void (*&&)(rmw_context_impl_t*),
rmw_context_impl_t*&&) () from /home/ivanpauno/ros2_ws/install/rmw_cyclonedds_cpp/lib/librmw_cyclonedds_cpp.so
#9 0x00007f491c49bdab in void std::thread::_Invoker<std::tuple<void (*)(rmw_context_impl_t*), rmw_context_impl_t*> >::_M_invoke<0ul, 1ul>(std::_Index_tuple<0ul, 1ul>) () from /home/ivanpauno/ros2_ws/inst
all/rmw_cyclonedds_cpp/lib/librmw_cyclonedds_cpp.so
#10 0x00007f491c49bcd7 in std::thread::_Invoker<std::tuple<void (*)(rmw_context_impl_t*), rmw_context_impl_t*> >::operator()() () from /home/ivanpauno/ros2_ws/install/rmw_cyclonedds_cpp/lib/librmw_cyclone
dds_cpp.so
#11 0x00007f491c49bc60 in std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (*)(rmw_context_impl_t*), rmw_context_impl_t*> > >::_M_run() () from /home/ivanpauno/ros2_ws/install/rmw_cyclonedds
_cpp/lib/librmw_cyclonedds_cpp.so
#12 0x00007f4925a18d84 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#13 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#14 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 14 (Thread 0x7f4909858700 (LWP 2789)):
#0 __libc_recvmsg (flags=0, msg=0x7f4909857600, fd=14) at ../sysdeps/unix/sysv/linux/recvmsg.c:28
#1 __libc_recvmsg (fd=14, msg=msg@entry=0x7f4909857600, flags=flags@entry=0) at ../sysdeps/unix/sysv/linux/recvmsg.c:25
#2 0x00007f491c330bcd in ddsrt_recvmsg (sock=<optimized out>, msg=msg@entry=0x7f4909857600, flags=flags@entry=0, rcvd=rcvd@entry=0x7f49098575e8) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cycloned
ds/src/ddsrt/src/sockets/posix/socket.c:455
#3 0x00007f491c2b0682 in ddsi_udp_conn_read (conn_cmn=0x2e9d500, buf=0x30e8ff0 "", len=65536, allow_spurious=<optimized out>, srcloc=0x7f4909857940) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cycl
onedds/src/core/ddsi/src/ddsi_udp.c:90
#4 0x00007f491c2fdfe3 in ddsi_conn_read (srcloc=0x7f4909857940, allow_spurious=true, len=65536, buf=0x30e8ff0 "", conn=0x2e9d500) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/security
/api/../../core/ddsi/include/dds/ddsi/ddsi_tran.h:254
#5 do_packet (ts1=ts1@entry=0x2eb8a80, gv=gv@entry=0x2ebab98, conn=conn@entry=0x2e9d500, guidprefix=guidprefix@entry=0x0, rbpool=rbpool@entry=0x2ec5a90) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/
cyclonedds/src/core/ddsi/src/q_receive.c:3251
#6 0x00007f491c300f5b in recv_thread (vrecv_thread_arg=<optimized out>) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_receive.c:3499
#7 0x00007f491c301f1b in create_thread_wrapper (ptr=0x2eb8a80) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_thread.c:241
#8 0x00007f491c3317cc in os_startRoutineWrapper (threadContext=0x2ec5ae0) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/threads/posix/threads.c:165
#9 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#10 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 13 (Thread 0x7f490a059700 (LWP 2788)):
#0 __libc_recvmsg (flags=0, msg=0x7f490a058600, fd=16) at ../sysdeps/unix/sysv/linux/recvmsg.c:28
#1 __libc_recvmsg (fd=16, msg=msg@entry=0x7f490a058600, flags=flags@entry=0) at ../sysdeps/unix/sysv/linux/recvmsg.c:25
#2 0x00007f491c330bcd in ddsrt_recvmsg (sock=<optimized out>, msg=msg@entry=0x7f490a058600, flags=flags@entry=0, rcvd=rcvd@entry=0x7f490a0585e8) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cycloned
ds/src/ddsrt/src/sockets/posix/socket.c:455
#3 0x00007f491c2b0682 in ddsi_udp_conn_read (conn_cmn=0x2eaefb0, buf=0x2fe8fb0 "", len=65536, allow_spurious=<optimized out>, srcloc=0x7f490a058940) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cycl
onedds/src/core/ddsi/src/ddsi_udp.c:90
#4 0x00007f491c2fdfe3 in ddsi_conn_read (srcloc=0x7f490a058940, allow_spurious=true, len=65536, buf=0x2fe8fb0 "", conn=0x2eaefb0) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/security
/api/../../core/ddsi/include/dds/ddsi/ddsi_tran.h:254
#5 do_packet (ts1=ts1@entry=0x2eb8a40, gv=gv@entry=0x2ebab98, conn=conn@entry=0x2eaefb0, guidprefix=guidprefix@entry=0x0, rbpool=rbpool@entry=0x2ec5840) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/
cyclonedds/src/core/ddsi/src/q_receive.c:3251
#6 0x00007f491c300f5b in recv_thread (vrecv_thread_arg=<optimized out>) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_receive.c:3499
#7 0x00007f491c301f1b in create_thread_wrapper (ptr=0x2eb8a40) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_thread.c:241
#8 0x00007f491c3317cc in os_startRoutineWrapper (threadContext=0x2ebf9d0) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/threads/posix/threads.c:165
#9 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#10 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 12 (Thread 0x7f490a85a700 (LWP 2787)):
#0 0x00007f492723512b in __GI___select (nfds=19, readfds=0x2e47ff0, writefds=writefds@entry=0x0, exceptfds=0x0, timeout=0x0) at ../sysdeps/unix/sysv/linux/select.c:41
#1 0x00007f491c330d84 in ddsrt_select (nfds=nfds@entry=19, readfds=readfds@entry=0x2e47ff0, writefds=writefds@entry=0x0, errorfds=errorfds@entry=0x0, reltime=reltime@entry=9223372036854775807, ready=read
--Type <RET> for more, q to quit, c to continue without paging--
y@entry=0x7f490a859d94) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/sockets/posix/socket.c:557
#2 0x00007f491c301c45 in os_sockWaitsetWait (ws=ws@entry=0x2e47f80) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_sockwaitset.c:864
#3 0x00007f491c30101b in recv_thread (vrecv_thread_arg=<optimized out>) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_receive.c:3552
#4 0x00007f491c301f1b in create_thread_wrapper (ptr=0x2eb8a00) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_thread.c:241
#5 0x00007f491c3317cc in os_startRoutineWrapper (threadContext=0x2ec5600) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/threads/posix/threads.c:165
#6 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#7 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 11 (Thread 0x7f490b05b700 (LWP 2786)):
#0 futex_abstimed_wait_cancelable (private=<optimized out>, abstime=0x7f490b05ad90, clockid=<optimized out>, expected=0, futex_word=0x2eadbec) at ../sysdeps/nptl/futex-internal.h:320
#1 __pthread_cond_wait_common (abstime=0x7f490b05ad90, clockid=<optimized out>, mutex=0x2eadb98, cond=0x2eadbc0) at pthread_cond_wait.c:520
#2 __pthread_cond_timedwait (cond=0x2eadbc0, mutex=0x2eadb98, abstime=0x7f490b05ad90) at pthread_cond_wait.c:656
#3 0x00007f491c331529 in ddsrt_cond_waituntil (cond=<optimized out>, mutex=<optimized out>, abstime=<optimized out>) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/sync/posix/
sync.c:116
#4 0x00007f491c3071fb in xevent_thread (xevq=0x2eadb40) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_xevent.c:1288
#5 0x00007f491c301f1b in create_thread_wrapper (ptr=0x2eb89c0) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_thread.c:241
#6 0x00007f491c3317cc in os_startRoutineWrapper (threadContext=0x2e9d3b0) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/threads/posix/threads.c:165
#7 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#8 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 10 (Thread 0x7f4914d23700 (LWP 2785)):
#0 futex_wait_cancelable (private=<optimized out>, expected=0, futex_word=0x7f4918007d40) at ../sysdeps/nptl/futex-internal.h:183
#1 __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x7f4918007cf0, cond=0x7f4918007d18) at pthread_cond_wait.c:508
#2 __pthread_cond_wait (cond=0x7f4918007d18, mutex=0x7f4918007cf0) at pthread_cond_wait.c:638
#3 0x00007f491c33149d in ddsrt_cond_wait (cond=cond@entry=0x7f4918007d18, mutex=mutex@entry=0x7f4918007cf0) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/sync/posix/sync.c:92
#4 0x00007f491c2f74ed in dqueue_thread (q=0x7f4918007cf0) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_radmin.c:2533
#5 0x00007f491c301f1b in create_thread_wrapper (ptr=0x2eb8980) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_thread.c:241
#6 0x00007f491c3317cc in os_startRoutineWrapper (threadContext=0x2e9d370) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/threads/posix/threads.c:165
#7 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#8 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 9 (Thread 0x7f4915524700 (LWP 2784)):
#0 futex_wait_cancelable (private=<optimized out>, expected=0, futex_word=0x7f4918008694) at ../sysdeps/nptl/futex-internal.h:183
#1 __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x7f4918008640, cond=0x7f4918008668) at pthread_cond_wait.c:508
#2 __pthread_cond_wait (cond=0x7f4918008668, mutex=0x7f4918008640) at pthread_cond_wait.c:638
#3 0x00007f491c33149d in ddsrt_cond_wait (cond=cond@entry=0x7f4918008668, mutex=mutex@entry=0x7f4918008640) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/sync/posix/sync.c:92
#4 0x00007f491c2f74ed in dqueue_thread (q=0x7f4918008640) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_radmin.c:2533
#5 0x00007f491c301f1b in create_thread_wrapper (ptr=0x2eb8940) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_thread.c:241
#6 0x00007f491c3317cc in os_startRoutineWrapper (threadContext=0x2eaf090) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/threads/posix/threads.c:165
#7 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#8 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 8 (Thread 0x7f4915d25700 (LWP 2783)):
#0 futex_abstimed_wait_cancelable (private=<optimized out>, abstime=0x7f4915d24de0, clockid=<optimized out>, expected=0, futex_word=0x2e611e0) at ../sysdeps/nptl/futex-internal.h:320
#1 __pthread_cond_wait_common (abstime=0x7f4915d24de0, clockid=<optimized out>, mutex=0x2e61190, cond=0x2e611b8) at pthread_cond_wait.c:520
#2 __pthread_cond_timedwait (cond=0x2e611b8, mutex=0x2e61190, abstime=0x7f4915d24de0) at pthread_cond_wait.c:656
#3 0x00007f491c331529 in ddsrt_cond_waituntil (cond=<optimized out>, mutex=<optimized out>, abstime=<optimized out>) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/sync/posix/
sync.c:116
#4 0x00007f491c2ee5bf in gcreq_queue_thread (q=0x2e61180) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_gc.c:133
#5 0x00007f491c301f1b in create_thread_wrapper (ptr=0x2eb8900) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/q_thread.c:241
#6 0x00007f491c3317cc in os_startRoutineWrapper (threadContext=0x2e9d420) at /home/ivanpauno/ros2_ws/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/threads/posix/threads.c:165
--Type <RET> for more, q to quit, c to continue without paging--
#7 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#8 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 7 (Thread 0x7f49167fc700 (LWP 2782)):
#0 futex_wait_cancelable (private=<optimized out>, expected=0, futex_word=0x263f948) at ../sysdeps/nptl/futex-internal.h:183
#1 __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x263f8f8, cond=0x263f920) at pthread_cond_wait.c:508
#2 __pthread_cond_wait (cond=0x263f920, mutex=0x263f8f8) at pthread_cond_wait.c:638
#3 0x00007f491cca7b5b in ?? () from /usr/lib/x86_64-linux-gnu/dri/iris_dri.so
#4 0x00007f491cca775b in ?? () from /usr/lib/x86_64-linux-gnu/dri/iris_dri.so
#5 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#6 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 6 (Thread 0x7f4916ffd700 (LWP 2781)):
#0 futex_wait_cancelable (private=<optimized out>, expected=0, futex_word=0x263f948) at ../sysdeps/nptl/futex-internal.h:183
#1 __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x263f8f8, cond=0x263f920) at pthread_cond_wait.c:508
#2 __pthread_cond_wait (cond=0x263f920, mutex=0x263f8f8) at pthread_cond_wait.c:638
#3 0x00007f491cca7b5b in ?? () from /usr/lib/x86_64-linux-gnu/dri/iris_dri.so
#4 0x00007f491cca775b in ?? () from /usr/lib/x86_64-linux-gnu/dri/iris_dri.so
#5 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#6 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 5 (Thread 0x7f49177fe700 (LWP 2780)):
#0 futex_wait_cancelable (private=<optimized out>, expected=0, futex_word=0x263f948) at ../sysdeps/nptl/futex-internal.h:183
#1 __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x263f8f8, cond=0x263f920) at pthread_cond_wait.c:508
#2 __pthread_cond_wait (cond=0x263f920, mutex=0x263f8f8) at pthread_cond_wait.c:638
#3 0x00007f491cca7b5b in ?? () from /usr/lib/x86_64-linux-gnu/dri/iris_dri.so
#4 0x00007f491cca775b in ?? () from /usr/lib/x86_64-linux-gnu/dri/iris_dri.so
#5 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#6 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 4 (Thread 0x7f4917fff700 (LWP 2779)):
#0 futex_wait_cancelable (private=<optimized out>, expected=0, futex_word=0x263f948) at ../sysdeps/nptl/futex-internal.h:183
#1 __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x263f8f8, cond=0x263f920) at pthread_cond_wait.c:508
#2 __pthread_cond_wait (cond=0x263f920, mutex=0x263f8f8) at pthread_cond_wait.c:638
#3 0x00007f491cca7b5b in ?? () from /usr/lib/x86_64-linux-gnu/dri/iris_dri.so
#4 0x00007f491cca775b in ?? () from /usr/lib/x86_64-linux-gnu/dri/iris_dri.so
#5 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#6 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 3 (Thread 0x7f491e94b700 (LWP 2777)):
#0 0x00007f4927232aff in __GI___poll (fds=0x7f49100025e0, nfds=1, timeout=-1) at ../sysdeps/unix/sysv/linux/poll.c:29
#1 0x00007f492636e36e in ?? () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#2 0x00007f492636e4a3 in g_main_context_iteration () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#3 0x00007f492520c565 in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#4 0x00007f49251b34db in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#5 0x00007f4924feb785 in QThread::exec() () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#6 0x00007f492127befa in ?? () from /lib/x86_64-linux-gnu/libQt5DBus.so.5
#7 0x00007f4924fec9d2 in ?? () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#8 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#9 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 2 (Thread 0x7f491fa53700 (LWP 2776)):
#0 0x00007f4927232aff in __GI___poll (fds=0x7f491fa52d68, nfds=1, timeout=-1) at ../sysdeps/unix/sysv/linux/poll.c:29
--Type <RET> for more, q to quit, c to continue without paging--
#1 0x00007f4922036c1a in ?? () from /lib/x86_64-linux-gnu/libxcb.so.1
#2 0x00007f492203890a in xcb_wait_for_event () from /lib/x86_64-linux-gnu/libxcb.so.1
#3 0x00007f4920241298 in ?? () from /lib/x86_64-linux-gnu/libQt5XcbQpa.so.5
#4 0x00007f4924fec9d2 in ?? () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#5 0x00007f4927103609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#6 0x00007f492723f293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
Thread 1 (Thread 0x7f4926f4f740 (LWP 2774)): [2/371]
#0 0x00007f4927232aff in __GI___poll (fds=0x7ffe7d0cb1a8, nfds=1, timeout=-1) at ../sysdeps/unix/sysv/linux/poll.c:29
#1 0x00007f4922036c1a in ?? () from /lib/x86_64-linux-gnu/libxcb.so.1
#2 0x00007f4922037329 in ?? () from /lib/x86_64-linux-gnu/libxcb.so.1
#3 0x00007f49220379b0 in xcb_send_request_with_fds64 () from /lib/x86_64-linux-gnu/libxcb.so.1
#4 0x00007f4922037c4d in xcb_send_request () from /lib/x86_64-linux-gnu/libxcb.so.1
#5 0x00007f4922044a1f in xcb_put_image () from /lib/x86_64-linux-gnu/libxcb.so.1
#6 0x00007f491ff53960 in xcb_image_put () from /lib/x86_64-linux-gnu/libxcb-image.so.0
#7 0x00007f4920233d29 in ?? () from /lib/x86_64-linux-gnu/libQt5XcbQpa.so.5
#8 0x00007f492023401b in ?? () from /lib/x86_64-linux-gnu/libQt5XcbQpa.so.5
#9 0x00007f49202344e7 in ?? () from /lib/x86_64-linux-gnu/libQt5XcbQpa.so.5
#10 0x00007f4920234aa0 in ?? () from /lib/x86_64-linux-gnu/libQt5XcbQpa.so.5
#11 0x00007f492280191f in QBackingStore::flush(QRegion const&, QWindow*, QPoint const&) () from /lib/x86_64-linux-gnu/libQt5Gui.so.5
#12 0x00007f4921531f4b in ?? () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#13 0x00007f4921533898 in ?? () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#14 0x00007f4921534c11 in ?? () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#15 0x00007f4921534dc1 in ?? () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#16 0x00007f492154d385 in QWidgetPrivate::syncBackingStore() () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#17 0x00007f4921565cac in QWidget::event(QEvent*) () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#18 0x00007f492167a148 in QMainWindow::event(QEvent*) () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#19 0x00007f4921cc619b in ?? () from /usr/lib/python3/dist-packages/PyQt5/QtWidgets.cpython-38-x86_64-linux-gnu.so
#20 0x00007f4921522a66 in QApplicationPrivate::notify_helper(QObject*, QEvent*) () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#21 0x00007f492152c0f0 in QApplication::notify(QObject*, QEvent*) () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#22 0x00007f4921e29bf6 in ?? () from /usr/lib/python3/dist-packages/PyQt5/QtWidgets.cpython-38-x86_64-linux-gnu.so
#23 0x00007f49251b493a in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#24 0x00007f49251b75b8 in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*) () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#25 0x00007f492520cf67 in ?? () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#26 0x00007f492636e17d in g_main_context_dispatch () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#27 0x00007f492636e400 in ?? () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#28 0x00007f492636e4a3 in g_main_context_iteration () from /lib/x86_64-linux-gnu/libglib-2.0.so.0
#29 0x00007f492520c565 in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#30 0x00007f49251b34db in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#31 0x00007f49251bb246 in QCoreApplication::exec() () from /lib/x86_64-linux-gnu/libQt5Core.so.5
#32 0x00007f4921dea9c1 in ?? () from /usr/lib/python3/dist-packages/PyQt5/QtWidgets.cpython-38-x86_64-linux-gnu.so
#33 0x00000000005f305a in PyCFunction_Call ()
#34 0x00000000005f3446 in _PyObject_MakeTpCall ()
#35 0x000000000056f600 in _PyEval_EvalFrameDefault ()
#36 0x000000000056822a in _PyEval_EvalCodeWithName ()
#37 0x000000000050a3b0 in ?? ()
#38 0x000000000056b115 in _PyEval_EvalFrameDefault ()
#39 0x000000000056822a in _PyEval_EvalCodeWithName ()
#40 0x00000000005f6033 in _PyFunction_Vectorcall ()
#41 0x000000000056a136 in _PyEval_EvalFrameDefault ()
#42 0x000000000056822a in _PyEval_EvalCodeWithName ()
#43 0x000000000068c1e7 in PyEval_EvalCode ()
#44 0x000000000067d5a1 in ?? ()
#45 0x000000000067d61f in ?? ()
#46 0x000000000067d6db in PyRun_FileExFlags ()
#47 0x000000000067da6e in PyRun_SimpleFileExFlags ()
#48 0x00000000006b6132 in Py_RunMain ()
#49 0x00000000006b64bd in Py_BytesMain ()
#50 0x00007f49271440b3 in __libc_start_main (main=0x4eec80 <main>, argc=2, argv=0x7ffe7d0cce48, init=<optimized out>, fini=<optimized out>, rtld_fini=<optimized out>, stack_end=0x7ffe7d0cce38) at ../csu/ibc-start.c:308
#51 0x00000000005f927e in _start ()
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.