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Fixed deadlock in destructor in TransformListener #752

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Fixed deadlock in destructor in TransformListener #752

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10 changes: 9 additions & 1 deletion tf2_ros/include/tf2_ros/transform_listener.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
#ifndef TF2_ROS__TRANSFORM_LISTENER_H_
#define TF2_ROS__TRANSFORM_LISTENER_H_

#include <atomic>
#include <functional>
#include <memory>
#include <thread>
Expand Down Expand Up @@ -211,7 +212,13 @@ class TransformListener
// Create executor with dedicated thread to spin.
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_callback_group(callback_group_, node_base_interface_);
dedicated_listener_thread_ = std::make_unique<std::thread>([&]() {executor_->spin();});
running_.store(true);
dedicated_listener_thread_ = std::make_unique<std::thread>(
[&]() {
while (running_.load()) {
executor_->spin_once();
}
});
// Tell the buffer we have a dedicated thread to enable timeouts
buffer_.setUsingDedicatedThread(true);
} else {
Expand All @@ -229,6 +236,7 @@ class TransformListener
}
}

std::atomic<bool> running_;
bool spin_thread_{false};
std::unique_ptr<std::thread> dedicated_listener_thread_ {nullptr};
rclcpp::Executor::SharedPtr executor_ {nullptr};
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1 change: 1 addition & 0 deletions tf2_ros/src/transform_listener.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,7 @@ TransformListener::TransformListener(tf2::BufferCore & buffer, bool spin_thread,
TransformListener::~TransformListener()
{
if (spin_thread_) {
running_.store(false);
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I find it very surprising that this pattern is needed, as it is (essentially) the same as what executor_->cancel() should be doing under the hood. I'm going to see if I can reproduce against jammy/rolling.

executor_->cancel();
dedicated_listener_thread_->join();
}
Expand Down