ros2 / ros2/rclcpp

spin_some not thread-safe, triggers TSan

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@jmachowinski is already working on this.

Since Sep 11, 2025.

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Description

Generated by Generative AI

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Operating System:

Linux dd3a63f3db39 6.14.0-28-generic #28~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Fri Jul 25 10:47:01 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

ROS version or commit hash:

kilted

RMW implementation (if applicable):

rmw_fastrtps_cpp

RMW Configuration (if applicable):

No response

Client library (if applicable):

rclcpp

'ros2 doctor --report' output
ros2 doctor --report 

   NETWORK CONFIGURATION
inet         : 127.0.0.1
inet4        : ['127.0.0.1']
inet6        : ['::1']
netmask      : 255.0.0.0
device       : lo
flags        : UP,LOOPBACK,RUNNING
mtu          : 65536
inet         : 172.17.0.2
inet4        : ['172.17.0.2']
ether        : 02:42:ac:11:00:02
netmask      : 255.255.0.0
device       : eth0
flags        : UP,BROADCAST,RUNNING,MULTICAST
mtu          : 1500
broadcast    : 172.17.255.255

   PACKAGE VERSIONS
ament_cmake_ros                           : latest=0.14.3, local=0.14.3
geometry_msgs                             : latest=5.5.0, local=5.5.0
rosidl_dynamic_typesupport_fastrtps       : latest=0.4.1, local=0.4.1
rosidl_pycommon                           : latest=4.9.5, local=4.9.4
ros_environment                           : latest=4.3.1, local=4.3.1
rclcpp_components                         : latest=29.5.2, local=29.5.0
tinyxml2_vendor                           : latest=0.10.0, local=0.10.0
composition_interfaces                    : latest=2.3.0, local=2.3.0
ros2run                                   : latest=0.38.0, local=0.38.0
rosidl_adapter                            : latest=4.9.5, local=4.9.4
ament_lint_auto                           : latest=0.19.2, local=0.19.2
sensor_msgs                               : latest=5.5.0, local=5.5.0
rpyutils                                  : latest=0.6.2, local=0.6.2
rmw_implementation                        : latest=3.0.4, local=3.0.4
rosidl_runtime_c                          : latest=4.9.5, local=4.9.4
ament_cmake_test                          : latest=2.7.3, local=2.7.3
rmw_implementation_cmake                  : latest=7.8.2, local=7.8.2
std_msgs                                  : latest=5.5.0, local=5.5.0
ament_cmake_gen_version_h                 : latest=2.7.3, local=2.7.3
type_description_interfaces               : latest=2.3.0, local=2.3.0
rosidl_parser                             : latest=4.9.5, local=4.9.4
launch_ros                                : latest=0.28.2, local=0.28.1
ament_cmake_gmock                         : latest=2.7.3, local=2.7.3
ament_cmake_export_include_directories    : latest=2.7.3, local=2.7.3
rosidl_runtime_cpp                        : latest=4.9.5, local=4.9.4
rclcpp_lifecycle                          : latest=29.5.2, local=29.5.0
ros2node                                  : latest=0.38.0, local=0.38.0
rosidl_typesupport_cpp                    : latest=3.3.3, local=3.3.3
ros2cli_common_extensions                 : latest=0.4.0, local=0.4.0
rcutils                                   : latest=6.9.8, local=6.9.5
ament_cmake_include_directories           : latest=2.7.3, local=2.7.3
uncrustify_vendor                         : latest=3.1.0, local=3.1.0
ament_lint                                : latest=0.19.2, local=0.19.2
rosidl_typesupport_fastrtps_c             : latest=3.8.0, local=3.8.0
rosidl_cmake                              : latest=4.9.5, local=4.9.4
ament_cmake_export_definitions            : latest=2.7.3, local=2.7.3
ament_flake8                              : latest=0.19.2, local=0.19.2
tracetools                                : latest=8.6.0, local=8.6.0
rosidl_core_runtime                       : latest=0.3.1, local=0.3.1
ros2multicast                             : latest=0.38.0, local=0.38.0
ament_pep257                              : latest=0.19.2, local=0.19.2
ros2cli                                   : latest=0.38.0, local=0.38.0
ros2launch                                : latest=0.28.2, local=0.28.1
sros2                                     : latest=0.15.2, local=0.15.2
rclcpp                                    : latest=29.5.2, local=29.5.0
launch_xml                                : latest=3.8.2, local=3.8.1
ament_cmake_xmllint                       : latest=0.19.2, local=0.19.2
ros2doctor                                : latest=0.38.0, local=0.38.0
nav_msgs                                  : latest=5.5.0, local=5.5.0
rcl                                       : latest=10.1.1, local=10.1.0
service_msgs                              : latest=2.3.0, local=2.3.0
ros2service                               : latest=0.38.0, local=0.38.0
ros_core                                  : latest=0.12.0, local=0.12.0
rclcpp_action                             : latest=29.5.2, local=29.5.0
ament_copyright                           : latest=0.19.2, local=0.19.2
rmw_dds_common                            : latest=3.2.1, local=3.2.1
rosgraph_msgs                             : latest=2.3.0, local=2.3.0
ament_cmake_ros_core                      : latest=0.14.3, local=0.14.3
ament_cmake_export_link_flags             : latest=2.7.3, local=2.7.3
rcl_action                                : latest=10.1.1, local=10.1.0
rosidl_dynamic_typesupport                : latest=0.3.1, local=0.3.1
rosidl_generator_py                       : latest=0.24.1, local=0.24.1
ament_cmake_export_dependencies           : latest=2.7.3, local=2.7.3
rosidl_typesupport_introspection_cpp      : latest=4.9.5, local=4.9.4
rosidl_generator_type_description         : latest=4.9.5, local=4.9.4
ament_lint_common                         : latest=0.19.2, local=0.19.2
stereo_msgs                               : latest=5.5.0, local=5.5.0
std_srvs                                  : latest=5.5.0, local=5.5.0
ament_cmake                               : latest=2.7.3, local=2.7.3
class_loader                              : latest=2.8.0, local=2.8.0
zenoh_cpp_vendor                          : latest=0.6.3, local=0.6.1
sros2_cmake                               : latest=0.15.2, local=0.15.2
rosidl_typesupport_interface              : latest=4.9.5, local=4.9.4
ament_lint_cmake                          : latest=0.19.2, local=0.19.2
ament_cmake_pytest                        : latest=2.7.3, local=2.7.3
rosidl_generator_cpp                      : latest=4.9.5, local=4.9.4
ros2topic                                 : latest=0.38.0, local=0.38.0
ament_cmake_core                          : latest=2.7.3, local=2.7.3
rcl_interfaces                            : latest=2.3.0, local=2.3.0
rmw_fastrtps_cpp                          : latest=9.3.2, local=9.3.2
rmw_zenoh_cpp                             : latest=0.6.3, local=0.6.1
ament_cmake_libraries                     : latest=2.7.3, local=2.7.3
rosidl_typesupport_fastrtps_cpp           : latest=3.8.0, local=3.8.0
diagnostic_msgs                           : latest=5.5.0, local=5.5.0
ament_cmake_copyright                     : latest=0.19.2, local=0.19.2
ros2action                                : latest=0.38.0, local=0.38.0
rosidl_default_runtime                    : latest=1.7.1, local=1.7.1
ament_cmake_cppcheck                      : latest=0.19.2, local=0.19.2
rclpy                                     : latest=9.1.1, local=9.1.0
ros2param                                 : latest=0.38.0, local=0.38.0
rmw_test_fixture_implementation           : latest=0.14.3, local=0.14.3
ros2component                             : latest=0.38.0, local=0.38.0
lifecycle_msgs                            : latest=2.3.0, local=2.3.0
ament_cmake_gtest                         : latest=2.7.3, local=2.7.3
ament_cpplint                             : latest=0.19.2, local=0.19.2
ament_cmake_lint_cmake                    : latest=0.19.2, local=0.19.2
ros2lifecycle                             : latest=0.38.0, local=0.38.0
rmw                                       : latest=7.8.2, local=7.8.2
visualization_msgs                        : latest=5.5.0, local=5.5.0
ament_index_python                        : latest=1.11.0, local=1.11.0
ament_cmake_auto                          : latest=2.7.3, local=2.7.3
rmw_test_fixture                          : latest=0.14.3, local=0.14.3
rosidl_generator_c                        : latest=4.9.5, local=4.9.4
unique_identifier_msgs                    : latest=2.7.0, local=2.7.0
ament_cmake_version                       : latest=2.7.3, local=2.7.3
launch_testing                            : latest=3.8.2, local=3.8.1
ament_cmake_pep257                        : latest=0.19.2, local=0.19.2
rosidl_runtime_py                         : latest=0.14.1, local=0.14.1
libstatistics_collector                   : latest=2.0.1, local=2.0.1
rmw_fastrtps_shared_cpp                   : latest=9.3.2, local=9.3.2
ros2pkg                                   : latest=0.38.0, local=0.38.0
rosidl_core_generators                    : latest=0.3.1, local=0.3.1
ament_cppcheck                            : latest=0.19.2, local=0.19.2
ament_xmllint                             : latest=0.19.2, local=0.19.2
ament_cmake_export_interfaces             : latest=2.7.3, local=2.7.3
rcl_lifecycle                             : latest=10.1.1, local=10.1.0
launch_testing_ros                        : latest=0.28.2, local=0.28.1
rosidl_typesupport_introspection_c        : latest=4.9.5, local=4.9.4
rosidl_default_generators                 : latest=1.7.1, local=1.7.1
launch_yaml                               : latest=3.8.2, local=3.8.1
ament_cmake_export_libraries              : latest=2.7.3, local=2.7.3
shape_msgs                                : latest=5.5.0, local=5.5.0
rosidl_cli                                : latest=4.9.5, local=4.9.4
statistics_msgs                           : latest=2.3.0, local=2.3.0
common_interfaces                         : latest=5.5.0, local=5.5.0
rmw_security_common                       : latest=7.8.2, local=7.8.2
launch                                    : latest=3.8.2, local=3.8.1
osrf_pycommon                             : latest=2.1.6, local=2.1.6
ament_index_cpp                           : latest=1.11.0, local=1.11.0
ament_cmake_cpplint                       : latest=0.19.2, local=0.19.2
ament_cmake_export_targets                : latest=2.7.3, local=2.7.3
ament_cmake_flake8                        : latest=0.19.2, local=0.19.2
console_bridge_vendor                     : latest=1.8.0, local=1.8.0
trajectory_msgs                           : latest=5.5.0, local=5.5.0
rcl_logging_spdlog                        : latest=3.2.2, local=3.2.2
pluginlib                                 : latest=5.6.0, local=5.6.0
rcl_logging_interface                     : latest=3.2.2, local=3.2.2
ros2interface                             : latest=0.38.0, local=0.38.0
ament_package                             : latest=0.17.2, local=0.17.2
actionlib_msgs                            : latest=5.5.0, local=5.5.0
rcpputils                                 : latest=2.13.4, local=2.13.4
launch_testing_ament_cmake                : latest=3.8.2, local=3.8.1
ament_cmake_uncrustify                    : latest=0.19.2, local=0.19.2
libyaml_vendor                            : latest=1.7.1, local=1.7.1
ament_cmake_target_dependencies           : latest=2.7.3, local=2.7.3
rosidl_typesupport_c                      : latest=3.3.3, local=3.3.3
ament_uncrustify                          : latest=0.19.2, local=0.19.2
ros_workspace                             : latest=1.0.3, local=1.0.3
rcl_yaml_param_parser                     : latest=10.1.1, local=10.1.0
spdlog_vendor                             : latest=1.7.0, local=1.7.0
builtin_interfaces                        : latest=2.3.0, local=2.3.0
ament_cmake_python                        : latest=2.7.3, local=2.7.3
action_msgs                               : latest=2.3.0, local=2.3.0
tlsf_cpp                                  : latest=0.18.3, local=0.18.3
depthimage_to_laserscan                   : latest=2.5.1, local=2.5.1
rqt_image_view                            : latest=1.3.3, local=1.3.0
rviz2                                     : latest=15.0.5, local=15.0.2
tango_icons_vendor                        : latest=0.4.0, local=0.4.0
rviz_ogre_vendor                          : latest=15.0.5, local=15.0.2
rviz_assimp_vendor                        : latest=15.0.5, local=15.0.2
intra_process_demo                        : latest=0.36.1, local=0.36.0
demo_nodes_cpp_native                     : latest=0.36.1, local=0.36.0
rviz_default_plugins                      : latest=15.0.5, local=15.0.2
rqt_bag_plugins                           : latest=2.0.2, local=2.0.2
gz_cmake_vendor                           : latest=0.2.2, local=0.2.2
turtlesim_msgs                            : latest=1.9.3, local=1.9.3
python_qt_binding                         : latest=2.3.1, local=2.3.1
dummy_sensors                             : latest=0.36.1, local=0.36.0
examples_rclpy_minimal_action_server      : latest=0.20.5, local=0.20.5
map_msgs                                  : latest=2.5.0, local=2.5.0
demo_nodes_py                             : latest=0.36.1, local=0.36.0
point_cloud_transport                     : latest=5.1.3, local=5.1.3
rviz_common                               : latest=15.0.5, local=15.0.2
rqt_bag                                   : latest=2.0.2, local=2.0.2
teleop_twist_keyboard                     : latest=2.4.0, local=2.4.0
examples_rclpy_minimal_client             : latest=0.20.5, local=0.20.5
dummy_map_server                          : latest=0.36.1, local=0.36.0
sdl2_vendor                               : latest=3.3.0, local=3.3.0
rqt_reconfigure                           : latest=1.7.0, local=1.7.0
rqt_py_console                            : latest=1.4.0, local=1.4.0
quality_of_service_demo_cpp               : latest=0.36.1, local=0.36.0
examples_rclcpp_minimal_composition       : latest=0.20.5, local=0.20.5
examples_rclcpp_minimal_service           : latest=0.20.5, local=0.20.5
examples_rclcpp_minimal_action_client     : latest=0.20.5, local=0.20.5
tlsf                                      : latest=0.10.1, local=0.10.1
rqt_topic                                 : latest=1.8.1, local=1.8.1
image_tools                               : latest=0.36.1, local=0.36.0
examples_rclcpp_minimal_publisher         : latest=0.20.5, local=0.20.5
libcurl_vendor                            : latest=3.7.0, local=3.7.0
rqt_plot                                  : latest=1.6.3, local=1.6.3
laser_geometry                            : latest=2.10.1, local=2.10.0
dummy_robot_bringup                       : latest=0.36.1, local=0.36.0
pcl_msgs                                  : latest=1.0.0, local=1.0.0
lifecycle                                 : latest=0.36.1, local=0.36.0
image_transport                           : latest=6.1.2, local=6.1.1
rqt_msg                                   : latest=1.6.0, local=1.6.0
action_tutorials_cpp                      : latest=0.36.1, local=0.36.0
rqt_graph                                 : latest=1.7.1, local=1.7.0
examples_rclcpp_minimal_client            : latest=0.20.5, local=0.20.5
examples_rclcpp_minimal_timer             : latest=0.20.5, local=0.20.5
rttest                                    : latest=0.18.3, local=0.18.3
rqt_py_common                             : latest=1.9.0, local=1.9.0
examples_rclcpp_minimal_action_server     : latest=0.20.5, local=0.20.5
qt_gui                                    : latest=2.9.1, local=2.9.1
examples_rclcpp_minimal_subscriber        : latest=0.20.5, local=0.20.5
rqt_gui_py                                : latest=1.9.0, local=1.9.0
pendulum_control                          : latest=0.36.1, local=0.36.0
logging_demo                              : latest=0.36.1, local=0.36.0
rviz_resource_interfaces                  : latest=15.0.5, local=15.0.2
pendulum_msgs                             : latest=0.36.1, local=0.36.0
example_interfaces                        : latest=0.13.0, local=0.13.0
rqt_common_plugins                        : latest=1.2.0, local=1.2.0
examples_rclpy_minimal_subscriber         : latest=0.20.5, local=0.20.5
rqt_action                                : latest=2.3.0, local=2.3.0
resource_retriever                        : latest=3.7.0, local=3.7.0
rqt_console                               : latest=2.3.1, local=2.3.1
rqt_gui_cpp                               : latest=1.9.0, local=1.9.0
examples_rclpy_minimal_action_client      : latest=0.20.5, local=0.20.5
joy                                       : latest=3.3.0, local=3.3.0
topic_monitor                             : latest=0.36.1, local=0.36.0
examples_rclpy_minimal_service            : latest=0.20.5, local=0.20.5
action_tutorials_py                       : latest=0.36.1, local=0.36.0
qt_gui_cpp                                : latest=2.9.1, local=2.9.1
rqt_publisher                             : latest=1.9.0, local=1.9.0
composition                               : latest=0.36.1, local=0.36.0
pcl_conversions                           : latest=2.7.3, local=2.7.3
image_geometry                            : latest=4.1.0, local=4.1.0
angles                                    : latest=1.16.0, local=1.16.0
quality_of_service_demo_py                : latest=0.36.1, local=0.36.0
demo_nodes_cpp                            : latest=0.36.1, local=0.36.0
rviz_rendering                            : latest=15.0.5, local=15.0.2
turtlesim                                 : latest=1.9.3, local=1.9.3
examples_rclcpp_multithreaded_executor    : latest=0.20.5, local=0.20.5
gz_utils_vendor                           : latest=0.2.2, local=0.2.2
qt_gui_py_common                          : latest=2.9.1, local=2.9.1
teleop_twist_joy                          : latest=2.6.5, local=2.6.3
rqt_gui                                   : latest=1.9.0, local=1.9.0
gz_math_vendor                            : latest=0.2.3, local=0.2.3
rqt_srv                                   : latest=1.3.0, local=1.3.0
qt_dotgraph                               : latest=2.9.1, local=2.9.1
desktop                                   : latest=0.12.0, local=0.12.0
examples_rclpy_executors                  : latest=0.20.5, local=0.20.5
rqt_service_caller                        : latest=1.4.0, local=1.4.0
interactive_markers                       : latest=2.7.0, local=2.7.0
examples_rclpy_minimal_publisher          : latest=0.20.5, local=0.20.5
rqt_shell                                 : latest=1.3.1, local=1.3.1
cv_bridge                                 : latest=4.1.0, local=4.1.0
urdf                                      : latest=2.12.2, local=2.12.2
rosbag2_py                                : latest=0.32.0, local=0.32.0
python_orocos_kdl_vendor                  : latest=0.7.1, local=0.7.1
tf2_tools                                 : latest=0.41.2, local=0.41.0
geometry2                                 : latest=0.41.2, local=0.41.0
sensor_msgs_py                            : latest=5.5.0, local=5.5.0
urdf_parser_plugin                        : latest=2.12.2, local=2.12.2
rosbag2_transport                         : latest=0.32.0, local=0.32.0
ros_base                                  : latest=0.12.0, local=0.12.0
orocos_kdl_vendor                         : latest=0.7.1, local=0.7.1
tf2_msgs                                  : latest=0.41.2, local=0.41.0
keyboard_handler                          : latest=0.4.0, local=0.4.0
tf2_eigen                                 : latest=0.41.2, local=0.41.0
eigen3_cmake_module                       : latest=0.4.0, local=0.4.0
zstd_vendor                               : latest=0.32.0, local=0.32.0
tf2_ros                                   : latest=0.41.2, local=0.41.0
yaml_cpp_vendor                           : latest=9.1.0, local=9.1.0
tf2_ros_py                                : latest=0.41.2, local=0.41.0
tf2_py                                    : latest=0.41.2, local=0.41.0
pybind11_vendor                           : latest=3.2.0, local=3.2.0
rosbag2_storage                           : latest=0.32.0, local=0.32.0
rosbag2_storage_mcap                      : latest=0.32.0, local=0.32.0
mcap_vendor                               : latest=0.32.0, local=0.32.0
tf2_kdl                                   : latest=0.41.2, local=0.41.0
kdl_parser                                : latest=2.12.1, local=2.12.1
rosbag2_storage_default_plugins           : latest=0.32.0, local=0.32.0
liblz4_vendor                             : latest=0.32.0, local=0.32.0
rosbag2_compression_zstd                  : latest=0.32.0, local=0.32.0
rosbag2_interfaces                        : latest=0.32.0, local=0.32.0
message_filters                           : latest=7.1.1, local=7.1.1
rosbag2_compression                       : latest=0.32.0, local=0.32.0
rosbag2_cpp                               : latest=0.32.0, local=0.32.0
rosbag2                                   : latest=0.32.0, local=0.32.0
sqlite3_vendor                            : latest=0.32.0, local=0.32.0
rosbag2_storage_sqlite3                   : latest=0.32.0, local=0.32.0
tf2_sensor_msgs                           : latest=0.41.2, local=0.41.0
tf2_geometry_msgs                         : latest=0.41.2, local=0.41.0
tf2                                       : latest=0.41.2, local=0.41.0
ros2bag                                   : latest=0.32.0, local=0.32.0
tf2_bullet                                : latest=0.41.2, local=0.41.0
tf2_eigen_kdl                             : latest=0.41.2, local=0.41.0
robot_state_publisher                     : latest=3.4.2, local=3.4.2

   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-6.14.0-28-generic-x86_64-with-glibc2.39
release          : 6.14.0-28-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      : kilted
distribution type      : ros2
distribution status    : active
release platforms      : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}

   TOPIC LIST
topic               : none
publisher count     : 0
subscriber count    : 0
Steps to reproduce issue
  1. Create a project with ros2 pkg create --build-type ament_cmake --license Apache-2.0 model_samples --dependencies rclcpp std_msgs
  2. Create files sample_2.cpp and CMakeLists.txt from the gist I linked below
  3. Build the application with colcon build --mixin tsan
  4. Run it
Expected behavior

Using spin_some manually in a loop on multiple threads without any inherent shared variables should not trigger TSan

Actual behavior

TSan reports some errors

Additional information

Here's code for reproduction:

https://gist.github.com/muji-4ok/6b02f0de0a23a6a5cbf7ef07f4ead4fc

There's a commented out lock_guard, which stops the reproduction

And here's logs I get:

https://gist.github.com/muji-4ok/d646f95dfead075b40432351e1f03ede

Some context:

I was experimenting with ros2 and TSan for my project. For that I needed a simple way to test out running multiple nodes in one process with CPU affinity

I've read https://docs.ros.org/en/kilted/Concepts/Intermediate/About-Executors.html and https://docs.ros.org/en/kilted/How-To-Guides/Using-callback-groups.html

I'm assuming from the docs that callback groups should be used if your business logic itself requires some mutual exclusion. But from the example I provided I see that the middleware also requires some mutual exclusion to work correctly. This seems like buggy behaviour IMHO

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