Data race across scene/state callbacks (planning_scene_monitor.cpp:651, 1117, 687, 807, 1286)

[Finder16]

Description

Summary

A data race occurs in planning_scene_monitor::PlanningSceneMonitor across planning scene/state callbacks.

Affected Location

• moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:651
• moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:1117
• moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:687
• moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:807
• moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:1286

Observed Result

ThreadSanitizer reports data races between planning scene callback paths and state/attach callbacks.

WARNING: ThreadSanitizer: data race (pid=69380)                                                                                                        
  Previous read ...                                                                                                                                    
    #3 planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneCallback(...) .../planning_scene_monitor.cpp:651                                  
    #4 planning_scene_monitor::PlanningSceneMonitor::startSceneMonitor(...)::$_15::operator()(...) const .../planning_scene_monitor.cpp:1117           
  (other stack)                                                                                                                                        
    #6 planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage(...) .../planning_scene_monitor.cpp:687                                   
    #3 planning_scene_monitor::PlanningSceneMonitor::attachObjectCallback(...) .../planning_scene_monitor.cpp:807                                      
    #4 planning_scene_monitor::PlanningSceneMonitor::startStateMonitor(...)::$_20::operator()(...) const .../planning_scene_monitor.cpp:1286           
SUMMARY: ThreadSanitizer: data race .../tsan_new_delete.cpp:150 in operator delete(void*, unsigned long)                                               


### ROS Distro

Humble

### OS and version

Ubuntu 24.04.3 LTS

### Source or binary build?

Source

### If binary, which release version?

_No response_

### If source, which branch?

• humble branch (commit e7004f4).                                                                                                                        

### Which RMW are you using?

None

### Steps to Reproduce

• 1. Clone MoveIt2 (Humble):
   ```bash                                                                                                                                             
   cd <ws>/src                                                                                                                                         
   git clone https://github.com/moveit/moveit2.git --branch humble --depth=1                                                                           
                                                                                                                                                       
2. Build and run with ThreadSanitizer-enabled setup (same environment used in this report):                                                            
    - ROS 2 Humble                                                                                                                                     
    - CC=clang, CXX=clang++                                                                                                                            
    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp                                                                                                            
3. Run the planning_scene_monitor stress target (10 minutes):                                                                                          
                                                                                                                                                       
   ./build-multi-e2e/stage2-fuzzer/scarab_e2e_runner \                                                                                                 
     --target moveit2_planning_scene_monitor \                                                                                                         
     --candidates nav2_ws/stage2/moveit2_ast_reanalysis_20260305/stage1/moveit2_all_candidates.json \                                                  
     --duration 600 \                                                                                                                                  
     --threads 4 \                                                                                                                                     
     --output-dir /tmp/moveit2_psm_run                                                                                                                 
4. Inspect the run log for ThreadSanitizer data race reports referencing:                                                                              
    - planning_scene_monitor.cpp:651                                                                                                                   
    - planning_scene_monitor.cpp:1117                                                                                                                  
    - planning_scene_monitor.cpp:687                                                                                                                   
    - planning_scene_monitor.cpp:807                                                                                                                   
    - planning_scene_monitor.cpp:1286                                                                                                                  
5. Reference reproduced log:                                                                                                                           
    - nav2_ws/stage2/moveit2_psm_pass_runs_20260305/run3/run.log                                                                                       


### Expected behavior

No data races should be reported by ThreadSanitizer in `planning_scene_monitor` callback paths

### Actual behavior

• ThreadSanitizer reports data races during concurrent `planning_scene_monitor` callback execution, with stacks pointing to
`planning_scene_monitor.cpp:651, 1117, 687, 807, 1286`.  

### Backtrace or Console output

_No response_