Fix race condition when creating isolated component container - #3223
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skyegalaxy merged 2 commits intoAug 13, 2026
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…ad_num parameter dynamically Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
…ad resolution Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
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skyegalaxy
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August 12, 2026 15:49
skyegalaxy
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Pulls: #3223, ros2/launch_ros#563
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https://github.com/Mergifyio backport lyrical |
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✅ Backports have been createdDetails
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Aug 13, 2026
…#3228) * Refactor thread management in ComponentManagerIsolated to handle thread_num parameter dynamically * Add test for isolated multi-threaded component manager with auto thread resolution --------- (cherry picked from commit 81ec3e3) Signed-off-by: Tony Najjar <tony.najjar@dexory.com> Co-authored-by: Tony Najjar <tony.najjar@dexory.com>
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lgtm with green CI.
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Description
Fix race condition when creating isolated component container
What
The isolated
component_containercreated a throwawayComponentManagersolely to read thethread_numparameter, then destroyed it and re-created the realComponentManagerIsolated. This briefly advertised the container's~/_container/load_nodeservice and tore it down, racingLoadComposableNodesclients and silently dropping load requests.Changes
component_container.cpp: construct the manager once, directly as its final type. Isolated managers are now built withnum_threads == 0("auto").component_manager_isolated.hpp: inadd_node_to_executor,num_threads_ == 0now resolves thethread_numparameter itself (defaults to hardware concurrency), so the container no longer needs to read it up front.isolated_multi_threaded_auto_thread_num) covering the isolated multi-threaded "auto" path.Notes
ComponentManager's layout is untouched.-p thread_num:=Nfor isolated multi-threaded/events executors.lyrical(identical baseline).Fixes #3222
Is this user-facing behavior change?
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Additional Information