Skip to content

Fixes in rmw_wait - #895

Open
MiguelCompany wants to merge 3 commits into
rollingfrom
miguelcompany/fix-guard-condition-race
Open

Fixes in rmw_wait#895
MiguelCompany wants to merge 3 commits into
rollingfrom
miguelcompany/fix-guard-condition-race

Conversation

@MiguelCompany

@MiguelCompany MiguelCompany commented Jul 8, 2026

Copy link
Copy Markdown
Collaborator

Description

This fixes two things in rmw_wait:

  • A race where a guard condition is triggered while traversing the collection of guard conditions, and is then untriggered during said traversal
  • RMW_RET_TIMEOUT being returned when an element becomes ready after the wait set timed out

Is this user-facing behavior change?

Did you use Generative AI?

Additional Information

Related regression test in ros2/rmw_implementation#280

@MiguelCompany
fix: Fix race condition when untriggering guard conditions.
87b4a55 
Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
@MiguelCompany
fix: return RMW_RET_OK whenever an active element is returned
bd2cabd 
Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
@mergify

mergify Bot commented Jul 8, 2026

Copy link
Copy Markdown

Tick the box to add this pull request to the merge queue (same as @mergifyio queue).

  • Queue this pull request

@jmachowinski

jmachowinski commented Jul 9, 2026

Copy link
Copy Markdown

Pulls: ros2/rmw_implementation#280, #895
Gist: https://gist.githubusercontent.com/jmachowinski/82143d362c43feb12295efa9e4e95af8/raw/8d562eae8818c75dd24bb468cd2f0aa888fdefb2/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19804

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@jmachowinski jmachowinski mentioned this pull request Jul 9, 2026
Open
@jmachowinski

jmachowinski commented Jul 10, 2026

Copy link
Copy Markdown

Pulls: ros2/rmw_implementation#281, #895
Gist: https://gist.githubusercontent.com/jmachowinski/e73cca6a332608b286a2a14b31a13010/raw/13be0d5cec704199c3c2d78115ee1ad2d76165d8/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19816

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@jmachowinski jmachowinski mentioned this pull request Jul 10, 2026
Open
fujitatomoya
fujitatomoya approved these changes Jul 13, 2026
View reviewed changes

@fujitatomoya fujitatomoya left a comment

Copy link
Copy Markdown
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

lgtm

@MiguelCompany
style: uncrustify
2fa9876 
Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
@MiguelCompany
MiguelCompany force-pushed the miguelcompany/fix-guard-condition-race branch from 1ae6a32 to 2fa9876 Compare July 13, 2026 05:51
wjwwood
wjwwood approved these changes Jul 16, 2026
View reviewed changes

@wjwwood wjwwood left a comment

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

lgtm

@jmachowinski

jmachowinski commented Jul 17, 2026

Copy link
Copy Markdown

Pulls: ros2/rmw_implementation#281, #895
Gist: https://gist.githubusercontent.com/jmachowinski/864e939dc53d56fcce13715ad11d45c4/raw/13be0d5cec704199c3c2d78115ee1ad2d76165d8/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19889

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@jmachowinski

jmachowinski commented Jul 17, 2026

Copy link
Copy Markdown

Pulls: ros2/rmw_implementation#281, #895
Gist: https://gist.githubusercontent.com/jmachowinski/ed5e2b1be5e3aa69820e965bbad137c5/raw/13be0d5cec704199c3c2d78115ee1ad2d76165d8/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19898

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@wjwwood wjwwood wjwwood approved these changes
@jmachowinski jmachowinski jmachowinski approved these changes
@fujitatomoya fujitatomoya fujitatomoya approved these changes

Assignees

@MiguelCompany MiguelCompany

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

4 participants

@MiguelCompany @jmachowinski @wjwwood @fujitatomoya