Fix data race in ~EventHandlerBase (backport #2349) #2388
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Both the EventHandler and its associated pubs/subs share the same underlying rmw event listener. When a pub/sub is destroyed, the listener is destroyed. There is a data race when the ~EventHandlerBase wants to access the listener after it has been destroyed. The EventHandler stores a shared_ptr of its associated pub/sub. But since we were clearing the listener event callbacks on the base class destructor ~EventHandlerBase, the pub/sub was already destroyed, which means the rmw event listener was also destroyed, thus causing a segfault when trying to obtain it to clear the callbacks. Clearing the callbacks on ~EventHandler instead of ~EventHandlerBase avoids the race, since the pub/sub are still valid. Signed-off-by: Mauro Passerino <mpasserino@irobot.com> (cherry picked from commit 411dbe8) # Conflicts: # rclcpp/include/rclcpp/event_handler.hpp # rclcpp/src/rclcpp/qos_event.cpp
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This is an automatic backport of pull request #2349 done by Mergify.
Cherry-pick of 411dbe8 has failed:
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