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Fix race condition in ActionBasedTreeExecutorNode: per-goal TreeConstructor storage via UUID map #19

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Merged
robin-mueller merged 2 commits into from
Mar 6, 2026
Merged

Fix race condition in ActionBasedTreeExecutorNode: per-goal TreeConstructor storage via UUID map #19

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1dc3929
Initial plan
Copilot Mar 6, 2026
4c80d11
Replace pending_tree_constructor_ with UUID-keyed map to fix race con…
Copilot Mar 6, 2026
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19 changes: 16 additions & 3 deletions ...pms_behavior_tree/include/auto_apms_behavior_tree/executor/action_based_executor_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@

#pragma once

#include <map>

#include "auto_apms_behavior_tree/executor/generic_executor_node.hpp"
#include "auto_apms_util/action_context.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
Expand Down Expand Up @@ -119,7 +121,7 @@ class ActionBasedTreeExecutorNode : public GenericTreeExecutorNode
virtual void onGoalExecutionTermination(const ExecutionResult & result, TriggerActionContext & context);

TriggerActionContext trigger_action_context_;
TreeConstructor pending_tree_constructor_;
std::map<rclcpp_action::GoalUUID, TreeConstructor> pending_tree_constructors_;

private:
void onTermination(const ExecutionResult & result) override final;
Expand Down Expand Up @@ -225,7 +227,7 @@ rclcpp_action::GoalResponse ActionBasedTreeExecutorNode<ActionT>::handle_trigger
}

try {
pending_tree_constructor_ = getTreeConstructorFromGoal(goal_ptr);
pending_tree_constructors_[uuid] = getTreeConstructorFromGoal(goal_ptr);
} catch (const std::exception & e) {
RCLCPP_WARN(
logger_, "Goal %s was REJECTED: Exception in getTreeConstructorFromGoal(): %s",
Expand All @@ -248,9 +250,20 @@ void ActionBasedTreeExecutorNode<ActionT>::handle_trigger_accept_(std::shared_pt
{
onAcceptedGoal(goal_handle_ptr);

const rclcpp_action::GoalUUID uuid = goal_handle_ptr->get_goal_id();
auto node = pending_tree_constructors_.extract(uuid);
if (node.empty()) {
RCLCPP_ERROR(
logger_, "No pending tree constructor found for goal %s.", rclcpp_action::to_string(uuid).c_str());
auto result_ptr = std::make_shared<TriggerResult>();
goal_handle_ptr->abort(result_ptr);
return;
}
TreeConstructor tree_constructor = std::move(node.mapped());

const ExecutorParameters params = executor_param_listener_.get_params();
try {
startExecution(pending_tree_constructor_, params.tick_rate, params.groot2_port);
startExecution(tree_constructor, params.tick_rate, params.groot2_port);
} catch (const std::exception & e) {
auto result_ptr = std::make_shared<TriggerResult>();
goal_handle_ptr->abort(result_ptr);
Expand Down