micro-ROS / micro-ROS/micro_ros_setup
rclc_support_init is corrupting FreeRTOS Heap
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Description
## Issue template
- Hardware description: STM32L4
- RTOS: FreeRTOS
- Installation type: standard
- Version or commit hash: humble
#### Steps to reproduce the issue
I created a FreeRTOS heap with 16kByte and a 'Standard Task' with 12000 Bytes. Additionally I created 2 binary Semaphores.
#### Expected behavior
Semaphores stay as they are, completely independent of the micro ROS function cals
#### Actual behavior
in the function call rclc_support_init it seems that the FreeRTOS Heap gets corrupted and the semaphores get affected. Maybe other FreeRTOS elements as well
#### Additional information
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reproducing the issue on STM32L4 with FreeRTOS using a 16 kB heap, a 12,000-byte Standard Task, and two binary semaphores. Compare the semaphore state before and after rclc_support_init; done means identifying and preventing the heap corruption without affecting the semaphores.
Written by the indexing model from the issue text.
Assessment
- Domain
- embedded-iot, operating-systems
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100