lookup/insert race condition in BufferCore
Open
Nobody has claimed this yet.
bug
- Dominant language
- C++
- Stars
- 153
- Forks
- 256
- Avg merge
- 3d 23h
- Merged PRs (30d)
- 14
Description
Generated by Generative AI
No response
Operating System:
Linux dev-server 5.15.0-113-generic #123-Ubuntu SMP Mon Jun 10 08:16:17 UTC 2024 x86_64 x86_64 x86_64 GNU/Linux
ROS version or commit hash:
rolling, humble
RMW implementation (if applicable):
no rmw involved
RMW Configuration (if applicable):
no rmw involved
Client library (if applicable):
No response
'ros2 doctor --report' output
ACTION LIST
action : none
action server count : 0
action client count : 0
ROS ENVIRONMENT
ROS environment variables : ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET, ROS_DISTRO=rolling
rcutils environment variables :
rmw environment variables :
NETWORK CONFIGURATION
inet : 192.168.1.111
inet4 : ['127.0.0.1', '192.168.1.111']
netmask : 255.255.255.255
device : lo
flags : UP,LOOPBACK,RUNNING
mtu : 65536
PACKAGE VERSIONS
tf_test : latest=N/A, local=0.0.0
tf2 : latest=0.45.6, local=0.45.6
action_msgs : latest=2.4.3, local=2.4.2
ament_cmake : latest=2.8.5, local=2.8.4
ament_cmake_auto : latest=2.8.5, local=2.8.4
ament_cmake_copyright : latest=0.20.3, local=0.20.3
ament_cmake_core : latest=2.8.5, local=2.8.4
ament_cmake_cppcheck : latest=0.20.3, local=0.20.3
ament_cmake_cpplint : latest=0.20.3, local=0.20.3
ament_cmake_export_definitions : latest=2.8.5, local=2.8.4
ament_cmake_export_dependencies : latest=2.8.5, local=2.8.4
ament_cmake_export_include_directories : latest=2.8.5, local=2.8.4
ament_cmake_export_libraries : latest=2.8.5, local=2.8.4
ament_cmake_export_link_flags : latest=2.8.5, local=2.8.4
ament_cmake_export_targets : latest=2.8.5, local=2.8.4
ament_cmake_flake8 : latest=0.20.3, local=0.20.3
ament_cmake_gen_version_h : latest=2.8.5, local=2.8.4
ament_cmake_gmock : latest=2.8.5, local=2.8.4
ament_cmake_gtest : latest=2.8.5, local=2.8.4
ament_cmake_include_directories : latest=2.8.5, local=2.8.4
ament_cmake_libraries : latest=2.8.5, local=2.8.4
ament_cmake_lint_cmake : latest=0.20.3, local=0.20.3
ament_cmake_mypy : latest=0.20.3, local=0.20.3
ament_cmake_pep257 : latest=0.20.3, local=0.20.3
ament_cmake_pytest : latest=2.8.5, local=2.8.4
ament_cmake_python : latest=2.8.5, local=2.8.4
ament_cmake_ros : latest=0.15.6, local=0.15.4
ament_cmake_ros_core : latest=0.15.6, local=0.15.4
ament_cmake_target_dependencies : latest=2.8.5, local=2.8.4
ament_cmake_test : latest=2.8.5, local=2.8.4
ament_cmake_uncrustify : latest=0.20.3, local=0.20.3
ament_cmake_version : latest=2.8.5, local=2.8.4
ament_cmake_xmllint : latest=0.20.3, local=0.20.3
ament_copyright : latest=0.20.3, local=0.20.3
ament_cppcheck : latest=0.20.3, local=0.20.3
ament_cpplint : latest=0.20.3, local=0.20.3
ament_flake8 : latest=0.20.3, local=0.20.3
ament_index_cpp : latest=1.13.1, local=1.12.1
ament_index_python : latest=1.13.1, local=1.12.1
ament_lint : latest=0.20.3, local=0.20.3
ament_lint_auto : latest=0.20.3, local=0.20.3
ament_lint_cmake : latest=0.20.3, local=0.20.3
ament_lint_common : latest=0.20.3, local=0.20.3
ament_mypy : latest=0.20.3, local=0.20.3
ament_package : latest=0.18.2, local=0.18.1
ament_pep257 : latest=0.20.3, local=0.20.3
ament_uncrustify : latest=0.20.3, local=0.20.3
ament_xmllint : latest=0.20.3, local=0.20.3
builtin_interfaces : latest=2.4.3, local=2.4.2
class_loader : latest=2.9.1, local=2.9.1
common_interfaces : latest=5.9.1, local=5.9.1
composition_interfaces : latest=2.4.3, local=2.4.2
console_bridge_vendor : latest=1.9.1, local=1.9.1
diagnostic_msgs : latest=5.9.1, local=5.9.1
geometry_msgs : latest=5.9.1, local=5.9.1
launch : latest=3.9.6, local=3.9.5
launch_ros : latest=0.29.6, local=0.29.4
launch_testing : latest=3.9.6, local=3.9.5
launch_testing_ament_cmake : latest=3.9.6, local=3.9.5
launch_testing_ros : latest=0.29.6, local=0.29.4
launch_xml : latest=3.9.6, local=3.9.5
launch_yaml : latest=3.9.6, local=3.9.5
libstatistics_collector : latest=2.1.1, local=2.1.1
libyaml_vendor : latest=1.8.0, local=1.8.0
lifecycle_msgs : latest=2.4.3, local=2.4.2
nav_msgs : latest=5.9.1, local=5.9.1
pluginlib : latest=5.8.2, local=5.8.0
rcl : latest=10.3.1, local=10.2.6
rcl_action : latest=10.3.1, local=10.2.6
rcl_interfaces : latest=2.4.3, local=2.4.2
rcl_lifecycle : latest=10.3.1, local=10.2.6
rcl_logging_interface : latest=3.4.0, local=3.3.2
rcl_logging_spdlog : latest=3.4.0, local=3.3.2
rcl_yaml_param_parser : latest=10.3.1, local=10.2.6
rclcpp : latest=30.1.5, local=30.1.3
rclcpp_action : latest=30.1.5, local=30.1.3
rclcpp_components : latest=30.1.5, local=30.1.3
rclcpp_lifecycle : latest=30.1.5, local=30.1.3
rclpy : latest=10.0.5, local=10.0.2
rcpputils : latest=2.14.3, local=2.14.3
rcutils : latest=7.0.5, local=7.0.4
rmw : latest=7.9.1, local=7.9.1
rmw_dds_common : latest=6.0.0, local=4.0.2
rmw_fastrtps_cpp : latest=9.4.4, local=9.4.4
rmw_fastrtps_shared_cpp : latest=9.4.4, local=9.4.4
rmw_implementation : latest=3.1.4, local=3.1.3
rmw_implementation_cmake : latest=7.9.1, local=7.9.1
rmw_security_common : latest=7.9.1, local=7.9.1
rmw_test_fixture : latest=0.15.6, local=0.15.4
rmw_test_fixture_implementation : latest=0.15.6, local=0.15.4
rmw_zenoh_cpp : latest=0.10.2, local=0.10.2
ros2action : latest=0.40.4, local=0.40.2
ros2cli : latest=0.40.4, local=0.40.2
ros2cli_common_extensions : latest=0.5.2, local=0.5.1
ros2component : latest=0.40.4, local=0.40.2
ros2doctor : latest=0.40.4, local=0.40.2
ros2interface : latest=0.40.4, local=0.40.2
ros2launch : latest=0.29.6, local=0.29.4
ros2lifecycle : latest=0.40.4, local=0.40.2
ros2multicast : latest=0.40.4, local=0.40.2
ros2node : latest=0.40.4, local=0.40.2
ros2param : latest=0.40.4, local=0.40.2
ros2pkg : latest=0.40.4, local=0.40.2
ros2run : latest=0.40.4, local=0.40.2
ros2service : latest=0.40.4, local=0.40.2
ros2topic : latest=0.40.4, local=0.40.2
ros_core : latest=0.13.0, local=0.13.0
ros_environment : latest=4.4.1, local=4.4.1
ros_workspace : latest=1.0.3, local=1.0.3
rosgraph_msgs : latest=2.4.3, local=2.4.2
rosidl_adapter : latest=5.1.2, local=5.1.1
rosidl_cli : latest=5.1.2, local=5.1.1
rosidl_cmake : latest=5.1.2, local=5.1.1
rosidl_core_generators : latest=0.4.1, local=0.4.1
rosidl_core_runtime : latest=0.4.1, local=0.4.1
rosidl_default_generators : latest=1.8.1, local=1.8.1
rosidl_default_runtime : latest=1.8.1, local=1.8.1
rosidl_dynamic_typesupport : latest=0.4.0, local=0.4.0
rosidl_dynamic_typesupport_fastrtps : latest=0.5.1, local=0.5.1
rosidl_generator_c : latest=5.1.2, local=5.1.1
rosidl_generator_cpp : latest=5.1.2, local=5.1.1
rosidl_generator_py : latest=0.26.3, local=0.26.2
rosidl_generator_rs : latest=0.4.10, local=0.4.9
rosidl_generator_type_description : latest=5.1.2, local=5.1.1
rosidl_parser : latest=5.1.2, local=5.1.1
rosidl_pycommon : latest=5.1.2, local=5.1.1
rosidl_runtime_c : latest=5.1.2, local=5.1.1
rosidl_runtime_cpp : latest=5.1.2, local=5.1.1
rosidl_runtime_py : latest=0.15.1, local=0.15.1
rosidl_typesupport_c : latest=3.4.1, local=3.4.1
rosidl_typesupport_cpp : latest=3.4.1, local=3.4.1
rosidl_typesupport_fastrtps_c : latest=3.9.3, local=3.9.3
rosidl_typesupport_fastrtps_cpp : latest=3.9.3, local=3.9.3
rosidl_typesupport_interface : latest=5.1.2, local=5.1.1
rosidl_typesupport_introspection_c : latest=5.1.2, local=5.1.1
rosidl_typesupport_introspection_cpp : latest=5.1.2, local=5.1.1
rpyutils : latest=0.7.1, local=0.7.1
sensor_msgs : latest=5.9.1, local=5.9.1
service_msgs : latest=2.4.3, local=2.4.2
shape_msgs : latest=5.9.1, local=5.9.1
spdlog_vendor : latest=1.8.0, local=1.8.0
sros2 : latest=0.16.3, local=0.16.2
sros2_cmake : latest=0.16.3, local=0.16.2
statistics_msgs : latest=2.4.3, local=2.4.2
std_msgs : latest=5.9.1, local=5.9.1
std_srvs : latest=5.9.1, local=5.9.1
stereo_msgs : latest=5.9.1, local=5.9.1
tracetools : latest=8.9.0, local=8.9.0
trajectory_msgs : latest=5.9.1, local=5.9.1
type_description_interfaces : latest=2.4.3, local=2.4.2
uncrustify_vendor : latest=3.2.0, local=3.2.0
unique_identifier_msgs : latest=2.8.1, local=2.8.1
visualization_msgs : latest=5.9.1, local=5.9.1
zenoh_cpp_vendor : latest=0.10.2, local=0.10.2
eigen3_cmake_module : latest=0.5.1, local=0.5.1
geometry2 : latest=0.45.6, local=0.45.3
kdl_parser : latest=3.0.1, local=3.0.1
keyboard_handler : latest=0.5.0, local=0.5.0
liblz4_vendor : latest=0.33.0, local=0.33.0
mcap_vendor : latest=0.33.0, local=0.33.0
message_filters : latest=7.3.6, local=7.3.4
pybind11_vendor : latest=3.3.1, local=3.3.1
robot_state_publisher : latest=3.5.4, local=3.5.3
ros2bag : latest=0.33.0, local=0.33.0
ros_base : latest=0.13.0, local=0.13.0
rosbag2 : latest=0.33.0, local=0.33.0
rosbag2_compression : latest=0.33.0, local=0.33.0
rosbag2_compression_zstd : latest=0.33.0, local=0.33.0
rosbag2_cpp : latest=0.33.0, local=0.33.0
rosbag2_interfaces : latest=0.33.0, local=0.33.0
rosbag2_py : latest=0.33.0, local=0.33.0
rosbag2_storage : latest=0.33.0, local=0.33.0
rosbag2_storage_default_plugins : latest=0.33.0, local=0.33.0
rosbag2_storage_mcap : latest=0.33.0, local=0.33.0
rosbag2_storage_sqlite3 : latest=0.33.0, local=0.33.0
rosbag2_transport : latest=0.33.0, local=0.33.0
sensor_msgs_py : latest=5.9.1, local=5.9.1
sqlite3_vendor : latest=0.33.0, local=0.33.0
tf2_bullet : latest=0.45.6, local=0.45.3
tf2_eigen : latest=0.45.6, local=0.45.3
tf2_eigen_kdl : latest=0.45.6, local=0.45.3
tf2_geometry_msgs : latest=0.45.6, local=0.45.3
tf2_kdl : latest=0.45.6, local=0.45.3
tf2_msgs : latest=0.45.6, local=0.45.3
tf2_py : latest=0.45.6, local=0.45.3
tf2_ros : latest=0.45.6, local=0.45.3
tf2_ros_py : latest=0.45.6, local=0.45.3
tf2_sensor_msgs : latest=0.45.6, local=0.45.3
tf2_tools : latest=0.45.6, local=0.45.3
tinyxml2_vendor : latest=0.11.3, local=0.11.3
urdf : latest=2.13.1, local=2.13.0
urdf_parser_plugin : latest=2.13.1, local=2.13.0
yaml_cpp_vendor : latest=9.2.0, local=9.2.0
zstd_vendor : latest=0.33.0, local=0.33.0
PLATFORM INFORMATION
system : Linux
platform info : Linux-5.15.0-113-generic-x86_64-with-glibc2.39
release : 5.15.0-113-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 : rolling
distribution type : ros2
distribution status : rolling
release platforms : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}
SERVICE LIST
service : none
service count : 0
client count : 0
TOPIC LIST
topic : none
publisher count : 0
subscriber count : 0
Steps to reproduce issue
- Run
rollingdocker image:
docker run -it --rm --net=host -w /wd ros:rolling bash
- Checkout
tf2package source:
git clone https://github.com/ros2/geometry2.git /wd/src/geometry2
- Create package with test executable:
ros2 pkg create --node-name tf_test --dependencies tf2 --build-type ament_cmake --destination-directory /wd/src tf_test
- Copy source code for executable from below:
cat >/wd/src/tf_test/src/tf_test.cpp - Enable sanitizers and build:
export LDFLAGS="-fsanitize=thread -fno-omit-frame-pointer"
export CXXFLAGS="-fsanitize=thread -fno-omit-frame-pointer"
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF --packages-select tf_test tf2
- Activate environment and run test:
source /wd/install/setup.sh
ros2 run tf_test tf_test
Test executable source code:
#include <chrono>
#include <iostream>
#include <thread>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <tf2/buffer_core.hpp>
using Buffer = tf2::BufferCore;
geometry_msgs::msg::TransformStamped makeTransform(
const std::string& frame_id, const std::string& child_frame_id) {
geometry_msgs::msg::TransformStamped transform;
auto nanosec = std::chrono::system_clock::now().time_since_epoch().count();
transform.header.stamp.sec = nanosec / 1000000000;
transform.header.stamp.nanosec = nanosec % 1000000000;
transform.header.frame_id = frame_id;
transform.child_frame_id = child_frame_id;
transform.transform.translation.x = 1.0;
transform.transform.translation.y = 0.0;
transform.transform.translation.z = 0.0;
transform.transform.rotation.w = 1.0;
return transform;
}
int main() {
Buffer buffer;
std::thread writer([&buffer]() {
for (size_t i = 0; ; ++i) {
auto transform = makeTransform("base", "frame_" + std::to_string(i));
buffer.setTransform(transform, "authority");
}
});
std::thread reader([&buffer]() {
while (true) {
buffer.canTransform("base", "frame_0", {});
}
});
reader.join();
writer.join();
return 0;
}
Expected behavior
No data race detected
Actual behavior
Data race detected. Here is example of output:
WARNING: ThreadSanitizer: data race (pid=298)
Write of size 8 at 0x721000025dc0 by thread T1 (mutexes: write M0):
#0 std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_M_rehash_aux(unsigned long, std::integral_constant<bool, true>) /usr/include/c++/13/bits/hashtable.h:2606 (libtf2.so+0x71dcb) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#1 std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_M_rehash(unsigned long, unsigned long const&) /usr/include/c++/13/bits/hashtable.h:2565 (libtf2.so+0x6e815) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#2 std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_M_insert_unique_node(unsigned long, unsigned long, std::__detail::_Hash_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, true>*, unsigned long) /usr/include/c++/13/bits/hashtable.h:2179 (libtf2.so+0x699d4) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#3 std::__detail::_Map_base<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true>, true>::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/c++/13/bits/hashtable_policy.h:825 (libtf2.so+0x66eb0) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#4 std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, unsigned int, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> > >::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/c++/13/bits/unordered_map.h:987 (libtf2.so+0x62d91) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#5 tf2::BufferCore::lookupOrInsertFrameNumber(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /wd/src/geometry2/tf2/src/buffer_core.cpp:1002 (libtf2.so+0x51b39) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#6 tf2::BufferCore::setTransformImpl(tf2::Vector3 const&, tf2::Quaternion const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) /wd/src/geometry2/tf2/src/buffer_core.cpp:273 (libtf2.so+0x4e723) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#7 tf2::BufferCore::setTransform(geometry_msgs::msg::TransformStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) /wd/src/geometry2/tf2/src/buffer_core.cpp:202 (libtf2.so+0x4d81c) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#8 operator() /wd/src/tf_test/src/tf_test.cpp:37 (tf_test+0x39cf) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#9 __invoke_impl<void, main()::<lambda()> > /usr/include/c++/13/bits/invoke.h:61 (tf_test+0x491a) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#10 __invoke<main()::<lambda()> > /usr/include/c++/13/bits/invoke.h:96 (tf_test+0x4808) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#11 _M_invoke<0> /usr/include/c++/13/bits/std_thread.h:292 (tf_test+0x46ca) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#12 operator() /usr/include/c++/13/bits/std_thread.h:299 (tf_test+0x4616) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#13 _M_run /usr/include/c++/13/bits/std_thread.h:244 (tf_test+0x4582) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#14 <null> <null> (libstdc++.so.6+0xecdb3) (BuildId: ca77dae775ec87540acd7218fa990c40d1c94ab1)
Previous read of size 8 at 0x721000025dc0 by thread T2:
#0 std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_M_find_before_node(unsigned long, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned long) const /usr/include/c++/13/bits/hashtable.h:1958 (libtf2.so+0x6e399) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#1 std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_M_find_node(unsigned long, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned long) const /usr/include/c++/13/bits/hashtable.h:815 (libtf2.so+0x69716) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#2 std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::find(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const /usr/include/c++/13/bits/hashtable.h:1702 (libtf2.so+0x66aa1) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#3 std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, unsigned int, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> > >::find(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const /usr/include/c++/13/bits/unordered_map.h:887 (libtf2.so+0x62ba7) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#4 tf2::BufferCore::lookupFrameNumber(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const /wd/src/geometry2/tf2/src/buffer_core.cpp:985 (libtf2.so+0x519ae) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#5 tf2::BufferCore::validateFrameId(char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*) const /wd/src/geometry2/tf2/src/buffer_core.cpp:124 (libtf2.so+0x4c9fb) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#6 tf2::BufferCore::canTransform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*) const /wd/src/geometry2/tf2/src/buffer_core.cpp:938 (libtf2.so+0x51760) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#7 operator() /wd/src/tf_test/src/tf_test.cpp:43 (tf_test+0x3bc7) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#8 __invoke_impl<void, main()::<lambda()> > /usr/include/c++/13/bits/invoke.h:61 (tf_test+0x4891) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#9 __invoke<main()::<lambda()> > /usr/include/c++/13/bits/invoke.h:96 (tf_test+0x4769) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#10 _M_invoke<0> /usr/include/c++/13/bits/std_thread.h:292 (tf_test+0x4670) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#11 operator() /usr/include/c++/13/bits/std_thread.h:299 (tf_test+0x45cc) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#12 _M_run /usr/include/c++/13/bits/std_thread.h:244 (tf_test+0x4530) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#13 <null> <null> (libstdc++.so.6+0xecdb3) (BuildId: ca77dae775ec87540acd7218fa990c40d1c94ab1)
Location is heap block of size 56 at 0x721000025dc0 allocated by thread T1:
#0 operator new(unsigned long) ../../../../src/libsanitizer/tsan/tsan_new_delete.cpp:64 (libtsan.so.2+0xa6fae) (BuildId: 38097064631f7912bd33117a9c83d08b42e15571)
#1 std::__new_allocator<std::__detail::_Hash_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, true> >::allocate(unsigned long, void const*) /usr/include/c++/13/bits/new_allocator.h:151 (libtf2.so+0x7487e) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#2 std::allocator_traits<std::allocator<std::__detail::_Hash_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, true> > >::allocate(std::allocator<std::__detail::_Hash_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, true> >&, unsigned long) /usr/include/c++/13/bits/alloc_traits.h:482 (libtf2.so+0x70057) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#3 std::__detail::_Hash_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, true>* std::__detail::_Hashtable_alloc<std::allocator<std::__detail::_Hash_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, true> > >::_M_allocate_node<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) /usr/include/c++/13/bits/hashtable_policy.h:1990 (libtf2.so+0x70057)
#4 std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_Scoped_node::_Scoped_node<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::__detail::_Hashtable_alloc<std::allocator<std::__detail::_Hash_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, true> > >*, std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) /usr/include/c++/13/bits/hashtable.h:307 (libtf2.so+0x6b690) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#5 std::__detail::_Map_base<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true>, true>::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/c++/13/bits/hashtable_policy.h:818 (libtf2.so+0x66e82) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#6 std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, unsigned int, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> > >::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/c++/13/bits/unordered_map.h:987 (libtf2.so+0x62d91) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#7 tf2::BufferCore::lookupOrInsertFrameNumber(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /wd/src/geometry2/tf2/src/buffer_core.cpp:1002 (libtf2.so+0x51b39) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#8 tf2::BufferCore::setTransformImpl(tf2::Vector3 const&, tf2::Quaternion const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) /wd/src/geometry2/tf2/src/buffer_core.cpp:273 (libtf2.so+0x4e723) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#9 tf2::BufferCore::setTransform(geometry_msgs::msg::TransformStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) /wd/src/geometry2/tf2/src/buffer_core.cpp:202 (libtf2.so+0x4d81c) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#10 operator() /wd/src/tf_test/src/tf_test.cpp:37 (tf_test+0x39cf) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#11 __invoke_impl<void, main()::<lambda()> > /usr/include/c++/13/bits/invoke.h:61 (tf_test+0x491a) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#12 __invoke<main()::<lambda()> > /usr/include/c++/13/bits/invoke.h:96 (tf_test+0x4808) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#13 _M_invoke<0> /usr/include/c++/13/bits/std_thread.h:292 (tf_test+0x46ca) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#14 operator() /usr/include/c++/13/bits/std_thread.h:299 (tf_test+0x4616) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#15 _M_run /usr/include/c++/13/bits/std_thread.h:244 (tf_test+0x4582) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#16 <null> <null> (libstdc++.so.6+0xecdb3) (BuildId: ca77dae775ec87540acd7218fa990c40d1c94ab1)
Mutex M0 (0x7ffd62933800) created at:
#0 pthread_mutex_lock ../../../../src/libsanitizer/tsan/tsan_interceptors_posix.cpp:1341 (libtsan.so.2+0x59a13) (BuildId: 38097064631f7912bd33117a9c83d08b42e15571)
#1 __gthread_mutex_lock(pthread_mutex_t*) <null> (libtf2.so+0x57f02) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#2 std::mutex::lock() <null> (libtf2.so+0x58426) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#3 std::unique_lock<std::mutex>::lock() /usr/include/c++/13/bits/unique_lock.h:141 (libtf2.so+0x650bb) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#4 std::unique_lock<std::mutex>::unique_lock(std::mutex&) <null> (libtf2.so+0x5f8fe) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#5 tf2::BufferCore::setTransformImpl(tf2::Vector3 const&, tf2::Quaternion const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) /wd/src/geometry2/tf2/src/buffer_core.cpp:272 (libtf2.so+0x4e70a) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#6 tf2::BufferCore::setTransform(geometry_msgs::msg::TransformStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) /wd/src/geometry2/tf2/src/buffer_core.cpp:202 (libtf2.so+0x4d81c) (BuildId: 83c73bae7e5ee3c9775f56776b87d01b3617d0fd)
#7 operator() /wd/src/tf_test/src/tf_test.cpp:37 (tf_test+0x39cf) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#8 __invoke_impl<void, main()::<lambda()> > /usr/include/c++/13/bits/invoke.h:61 (tf_test+0x491a) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#9 __invoke<main()::<lambda()> > /usr/include/c++/13/bits/invoke.h:96 (tf_test+0x4808) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#10 _M_invoke<0> /usr/include/c++/13/bits/std_thread.h:292 (tf_test+0x46ca) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#11 operator() /usr/include/c++/13/bits/std_thread.h:299 (tf_test+0x4616) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#12 _M_run /usr/include/c++/13/bits/std_thread.h:244 (tf_test+0x4582) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
#13 <null> <null> (libstdc++.so.6+0xecdb3) (BuildId: ca77dae775ec87540acd7218fa990c40d1c94ab1)
Thread T1 (tid=300, running) 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 main /wd/src/tf_test/src/tf_test.cpp:39 (tf_test+0x3cea) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
Thread T2 (tid=301, running) 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 main /wd/src/tf_test/src/tf_test.cpp:45 (tf_test+0x3d20) (BuildId: d6f00023015426732b378134a805ffe10cc5b266)
SUMMARY: ThreadSanitizer: data race /usr/include/c++/13/bits/hashtable.h:2606 in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int>, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned int> >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_M_rehash_aux(unsigned long, std::integral_constant<bool, true>)
Additional information
The problem found in humble and reproduced in rolling.
Test executable inserts transforms with new frame_id in writer thread. Also it checks single transform in reader thread infinitely.
Looks like writer thread behaviour is quite rare in production systems. But still the problem causes segfault in our test cases occasionally.
Contributor guide
No contributing guide indexed for this repository
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 locating the BufferCore lookup and insert entry points and tracing how they are accessed concurrently. Reproduce the race with a focused test, then verify that the lookup/insert interaction is safe under concurrency and that the regression test passes.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- backend
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Quiet
- Clarity
- Needs clarification
- Newbie friendliness
- 35/100