Skip to content

Bugfix/rclcpp action UUID rng race condition #3183

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
iv461 wants to merge 4 commits into
base: rolling
Choose a base branch
from
+2 −0
Open

Bugfix/rclcpp action UUID rng race condition #3183

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
c85d28e
Fixed race condition on the RNG in rclcpp_action
Jun 24, 2026
4ed254c
The mutex should be reentrant
Jun 24, 2026
57be7db
Fixed compile error, the lock guard parameter needs to be of the same…
Jun 25, 2026
547b44e
Changed mutex back to be non-reentrant
Jun 25, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions rclcpp_action/src/client_base.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -181,6 +181,7 @@ class ClientBaseImpl
std::map<int64_t, ResponseCallback> pending_cancel_responses;
std::recursive_mutex cancel_requests_mutex;

std::mutex goal_id_rng_mutex;
std::independent_bits_engine<
std::mt19937, 8, unsigned int> random_bytes_generator;
};
Expand Down Expand Up @@ -480,6 +481,7 @@ GoalUUID
ClientBase::generate_goal_id()
{
GoalUUID goal_id;
std::lock_guard<std::mutex> lock(pimpl_->goal_id_rng_mutex);
// TODO(hidmic): Do something better than this for UUID generation.
// std::generate(
// goal_id.uuid.begin(), goal_id.uuid.end(),
Expand Down