Data race in ControllerManager::update() (controller_manager.cpp:2186)

[Finder16]

Summary

ThreadSanitizer reports a data race in controller_manager::ControllerManager::update() during concurrent control-cycle execution.

Affected Location

• controller_manager/src/controller_manager.cpp:2186
• Function: ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&)

Observed Result

ThreadSanitizer reports concurrent writes in ControllerManager::update().

WARNING: ThreadSanitizer: data race (pid=413)                                                                                                          
  Write of size 4 ...                                                                                                                                  
    #0 controller_manager::ControllerManager::update(...) .../controller_manager.cpp:2186                                                              
  Previous write of size 4 ...                                                                                                                         
    #0 controller_manager::ControllerManager::update(...) .../controller_manager.cpp:2186                                                              
SUMMARY: ThreadSanitizer: data race .../controller_manager.cpp:2186 in controller_manager::ControllerManager::update(...)                              

[saikishor]

Hello @Finder16

Thank you for reporting the issue. Can you let us know the branch and the version you tested

[Finder16]

Branch: humble Commit: Commit : dbc7dad
Repository: ros2/ros2_control

[saikishor]

@Finder16 can you see if the issue exists on Rolling?

[Finder16]

i don't see Rolling branch

[Finder16]

if you mean master issue exists

[saikishor]

Hello @Finder16, I don't see a data race condition with update_loop_counter_, it is used only in the update callback.
The tests somehow can have this problem