move_group_interface: make async callbacks safe and track active goal handles#3618
Open
Prathmesh2931 wants to merge 1 commit intomoveit:mainfrom
Open
move_group_interface: make async callbacks safe and track active goal handles#3618Prathmesh2931 wants to merge 1 commit intomoveit:mainfrom
Prathmesh2931 wants to merge 1 commit intomoveit:mainfrom
Conversation
… handles Replace stack-captured state in plan(), move(), and execute() with heap-shared state captured by value in callbacks to avoid use-after-free when async methods return. Add mutex-protected `active_move_goal_handle_` and `active_execute_goal_handle_` members and cancel active goals in the destructor. Include <mutex> and <atomic>.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
The async methods previously captured stack variables by reference in callbacks. When the method returned, those variables were destroyed, causing use-after-free and memory corruption. The fix moves this state to heap-allocated shared objects captured by value, ensuring safe lifetime.
Mutex-protected goal handle members were added so the class can properly track, synchronize, and cancel active goals, restoring the ability to query action state similar to ROS1.