[ahcorde]

Description

IntraProcessManager::lowest_available_capacity() reads pub_to_subs_ and subscriptions_ without taking mutex_, while adding or removing subscriptions modifies them under a unique_lock. Calling Publisher::lowest_available_ipm_capacity() while intra-process subscriptions are created or destroyed on another thread can read freed memory.

• Take a shared_lock, like the other readers.
• Add a test that queries the capacity while subscriptions are created and destroyed. Under ASan the old code fails with heap-use-after-free; the fixed code passes. >

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Claude Opus 5.5

[github-actions]

ABI Compliance Check

❌ Verdict: incompatible

Library	Verdict	Summary
libcomponent_manager.so	✅ compatible	No ABI changes detected.
librclcpp.so	❌ incompatible	ABI changed: 0 removed, 1 changed, 0 added declaration(s); removed or changed declarations break backward compatibility.
librclcpp_action.so	✅ compatible	No ABI changes detected.
librclcpp_lifecycle.so	✅ compatible	No ABI changes detected.

✅ libcomponent_manager.so — full abidiff report

Compared:

• Base: lib-base/libcomponent_manager.so
• Head: lib-pr/libcomponent_manager.so @ 951bf9a

(empty report — no differences printed by abidiff)

❌ librclcpp.so — full abidiff report

Compared:

• Base: lib-base/librclcpp.so
• Head: lib-pr/librclcpp.so @ 951bf9a

Functions changes summary: 0 Removed (41 filtered out), 1 Changed (1722 filtered out), 0 Added (19 filtered out) functions
Variables changes summary: 0 Removed, 0 Changed, 0 Added variable

1 function with some indirect sub-type change:

  [C] 'method rclcpp::node_interfaces::NodeParameters::NodeParameters(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr, rclcpp::node_interfaces::NodeServicesInterface::SharedPtr, rclcpp::node_interfaces::NodeClockInterface::SharedPtr, const std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> >&, bool, bool, const rclcpp::QoS&, const rclcpp::PublisherOptionsBase&, bool, bool)' at node_parameters.cpp:67:1 has some indirect sub-type changes:
    implicit parameter 0 of type 'rclcpp::node_interfaces::NodeParameters*' has sub-type changes:
      in pointed to type 'class rclcpp::node_interfaces::NodeParameters' at node_parameters.hpp:83:1:
        type size changed from 2496 to 2624 (in bits)
        no member function changes (24 filtered);
        1 data member insertion:
          'rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_', at offset 2368 (in bits) at node_parameters.hpp:260:1
        1 data member changes (1 filtered):
          'rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_' offset changed from 2368 to 2496 (in bits) (by +128 bits)

✅ librclcpp_action.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_action.so
• Head: lib-pr/librclcpp_action.so @ 951bf9a

(empty report — no differences printed by abidiff)

✅ librclcpp_lifecycle.so — full abidiff report

Compared:

• Base: lib-base/librclcpp_lifecycle.so
• Head: lib-pr/librclcpp_lifecycle.so @ 951bf9a

(empty report — no differences printed by abidiff)

_{Updated for commit 951bf9a · check run · suppressions: /home/runner/work/_temp/ros2-abi-suppressions.txt}

[ahcorde]

Pulls: #3361
Gist: https://gist.githubusercontent.com/ahcorde/9ef66eb81cbf0c56bc2d6932c88edb62/raw/acfeef116bb66b949e7eb9e6b7584658e390b3a8/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20823

• Linux
• Linux-aarch64
• Linux-rhel
• Windows