[rcl_lifecycle] Do not share transition event message between nodes #956
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Signed-off-by: Ivan Santiago Paunovic <[email protected]>
… idl C types API Signed-off-by: Ivan Santiago Paunovic <[email protected]>
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CI:
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fujitatomoya
approved these changes
Dec 18, 2021
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I cannot reproduce https://ci.ros2.org/job/ci_linux-aarch64/10476/console with local environment. CI(retry):
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I was able to reproduce the issue locally, it's a preexistent issue that got triggered because how I've run CI, so again but with different flags:
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Windows seem to have failed last time because of network issues, again:
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ros2/rmw_implementation#202 should be fixing that |
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…os2#956) Signed-off-by: Ivan Santiago Paunovic <[email protected]>
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This is a simple bug that was never hit before.
The following sequence of events will end up in an error being triggered by the rmw implementation:
The issue is that the third step finalized the static lifetime transition event message shared by all the nodes, and the transition label will still be uninitialized when rcl_lifecycle_com_interface_publish_notification() is called.
(rmw implementations don't accept null c typesupport strings, they need an allocated string "\0")
It was pretty easy to hit the bug when working in ros2/rclpy#865, as it's not obvious when destruction happens when you have a garbage collector.
Note: this change breaks ABI, the backport will need to initialize and fini a new message in rcl_lifecycle_com_interface_publish_notification().
That's a bit not ideal because it triggers an allocation each time, but considering how our C type mapping works there doesn't seem to be a better way to do it.