Memory leak when using multi threaded application

[stevedanomodolor]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22
• Installation type:
  • ros2-humble
• Version or commit hash:
• DDS implementation:
  • cyclone dds
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

I cant share the code because it is from a private database but it happens when I have a node which i run in thread A and has get functions that call service clients. Thread B is not a ros node, but another application running and this application calls the get functions. When the get functions are called, its calls service clients node this is where the problems begin. When this happens I get the following from thread analizer

[web_bridge-1] ==================
[web_bridge-1] WARNING: ThreadSanitizer: data race (pid=10878)
[web_bridge-1]   Write of size 1 at 0x7b14000629d0 by thread T2 (mutexes: write M1704):
[web_bridge-1]     #0 pthread_mutex_destroy ../../../../src/libsanitizer/tsan/tsan_interceptors_posix.cpp:1244 (libtsan.so.0+0x39398)
[web_bridge-1]     #1 ddsrt_mutex_destroy <null> (libddsc.so.0+0xe743c)
[web_bridge-1] 
[web_bridge-1]   Previous atomic read of size 1 at 0x7b14000629d0 by thread T10 (mutexes: write M1701, write M217434007850592720):
[web_bridge-1]     #0 pthread_mutex_unlock ../../../../src/libsanitizer/sanitizer_common/sanitizer_common_interceptors.inc:4254 (libtsan.so.0+0x3bff8)
[web_bridge-1]     #1 ddsrt_mutex_unlock <null> (libddsc.so.0+0xe74ec)
[web_bridge-1]     #2 rclcpp::Service<umd_robot_interfaces::srv::HasRobotDockingStation>::handle_request(std::shared_ptr<rmw_request_id_s>, std::shared_ptr<void>) /opt/ros/humble/include/rclcpp/rclcpp/service.hpp:475 (libweb_bridge_core.so+0x7778a6)
[web_bridge-1]     #3 <null> <null> (librclcpp.so+0xe9375)
[web_bridge-1]     #4 __invoke_impl<void, main(int, char**)::<lambda()> > /usr/include/c++/11/bits/invoke.h:61 (web_bridge+0xcc3d6)
[web_bridge-1]     #5 __invoke<main(int, char**)::<lambda()> > /usr/include/c++/11/bits/invoke.h:96 (web_bridge+0xcc2c4)
[web_bridge-1]     #6 _M_invoke<0> /usr/include/c++/11/bits/std_thread.h:259 (web_bridge+0xcc186)
[web_bridge-1]     #7 operator() /usr/include/c++/11/bits/std_thread.h:266 (web_bridge+0xcc0d2)
[web_bridge-1]     #8 _M_run /usr/include/c++/11/bits/std_thread.h:211 (web_bridge+0xcc03e)
[web_bridge-1]     #9 <null> <null> (libstdc++.so.6+0xdc252)
[web_bridge-1] 
[web_bridge-1]   Location is heap block of size 80 at 0x7b14000629d0 allocated by thread T3:
[web_bridge-1]     #0 malloc ../../../../src/libsanitizer/tsan/tsan_interceptors_posix.cpp:655 (libtsan.so.0+0x31c57)
[web_bridge-1]     #1 ddsrt_malloc <null> (libddsc.so.0+0xe434c)

Expected behavior

• There should not be a race condition

Actual behavior

• I get a race condition and after runnning the code base for a long time, I get a segfault.

Stack trace (most recent call last) in thread 67:
#15   Object "", at 0xffffffffffffffff, in
#14   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b030861aa03, in __clone
#13   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7b0308589ac2, in
#12   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7b030881c252, in
#11   Object "/umd2_ws/install/umd_utils/lib/libumd_utils.so", at 0x7b03089794b5, in std::thread::_State_impl<std::thread::_Invoker<std::tuple<umd_utils::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}> > >::_M_run()
#10   Object "/umd2_ws/install/umd_utils/lib/libumd_utils.so", at 0x7b03089794ed, in std::thread::_Invoker<std::tuple<umd_utils::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}> >::operator()()
#9    Object "/umd2_ws/install/umd_utils/lib/libumd_utils.so", at 0x7b0308979545, in void std::thread::_Invoker<std::tuple<umd_utils::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}> >::_M_invoke<0ul>(std::_Index_tuple<0ul>)
#8    Object "/umd2_ws/install/umd_utils/lib/libumd_utils.so", at 0x7b03089795eb, in std::__invoke_result<umd_utils::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}>::type std::__invoke<umd_utils::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}>(umd_utils::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}&&)
#7    Object "/umd2_ws/install/umd_utils/lib/libumd_utils.so", at 0x7b0308979665, in void std::__invoke_impl<void, umd_utils::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}>(std::__invoke_other, umd_utils::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}&&)
#6    Object "/umd2_ws/install/umd_utils/lib/libumd_utils.so", at 0x7b0308978ab0, in umd_utils::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}::operator()() const
#5    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7b0308a89970, in rclcpp::executors::SingleThreadedExecutor::spin()
#4    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7b0308a82492, in rclcpp::Executor::get_next_executable(rclcpp::AnyExecutable&, std::chrono::duration<long, std::ratio<1l, 1000000000l> >)
#3    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7b0308a7f70b, in rclcpp::Executor::wait_for_work(std::chrono::duration<long, std::ratio<1l, 1000000000l> >)
#2    Object "/opt/ros/humble/lib/librcl.so", at 0x7b0308353847, in rcl_wait
#1    Object "/opt/ros/humble/lib/librmw_cyclonedds_cpp.so", at 0x7b0307dfe87a, in rmw_wait
#0    Object "/opt/ros/humble/lib/librmw_cyclonedds_cpp.so", at 0x7b0307dfc396, in
Segmentation fault (Signal sent by the kernel [(nil)])
[ros2run]: Segmentation fault

Additional information

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Feature request

Feature description

Implementation considerations

[stevedanomodolor]

I get a segfault here