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Fix possible race condition with reentrant callback groups in EventsCBGExecutor scheduler #3234

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Merged
fujitatomoya merged 2 commits into from
Aug 23, 2026
+12 −5
Merged

Fix possible race condition with reentrant callback groups in EventsCBGExecutor scheduler #3234

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696c22e
put in_queue under ready_callback_groups_mutex
Aug 23, 2026
4a780fe
only remove from ready_callback_groups if in the queue
Aug 23, 2026
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17 changes: 12 additions & 5 deletions rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
// limitations under the License.
#pragma once

#include <algorithm>
#include <deque>
#include <functional>
#include <list>
Expand Down Expand Up @@ -214,8 +215,12 @@ class CBGScheduler
void remove_callback_group(const CallbackGroupHandle *callback_handle)
{
std::lock_guard lk(ready_callback_groups_mutex);
ready_callback_groups.erase(std::find(ready_callback_groups.begin(),
ready_callback_groups.end(), callback_handle));

auto cbg_it = std::find(ready_callback_groups.begin(),
ready_callback_groups.end(), callback_handle);
if (cbg_it != ready_callback_groups.end()) {
ready_callback_groups.erase(cbg_it);
}

callback_groups.remove_if([&callback_handle] (const auto & e) {
return e.get() == callback_handle;
Expand All @@ -230,11 +235,13 @@ class CBGScheduler
*/
void callback_group_ready(CallbackGroupHandle *handle, bool callback_group_was_idle)
{
if (!handle->in_queue) {
{
std::lock_guard l(ready_callback_groups_mutex);

ready_callback_groups.push_back(handle);
handle->in_queue = true;
if (!handle->in_queue) {
ready_callback_groups.push_back(handle);
handle->in_queue = true;
}
}

if(callback_group_was_idle) {
Expand Down