fix: prevent double-shutdown in rclcpp::Context - #3220
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The signal handler thread (deferred_signal_handler) and the main thread
may both call Context::shutdown() during Ctrl-C, causing a double-free
or heap corruption in the underlying rcl_context_t and glibc.
Add an atomic flag is_shutting_down_ to ensure only the first call to
shutdown() proceeds; subsequent calls return immediately.
Steps to reproduce:
1. Launch any ROS 2 node with shutdown_on_signal=true
2. Press Ctrl-C
3. Observe SIGABRT in rclcpp::Context::shutdown() called from
rclcpp::SignalHandler::deferred_signal_handler()
GDB backtrace from core dump:
Thread 1: raise() -> abort()
-> rclcpp::Context::shutdown()
-> rclcpp::SignalHandler::deferred_signal_handler()
Signed-off-by: fishitiny <fishitiny@users.noreply.github.com>
(cherry picked from commit 599f3b8)
Adaptation for rolling: reset is_shutting_down_ in Context::init() so
that shutdown() works again after the context is re-initialized.
Signed-off-by: Tomoya Fujita <fujita.tomoya@triorb.co.jp>
Signed-off-by: Tomoya Fujita <fujita.tomoya@triorb.co.jp>
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fujitatomoya
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Aug 11, 2026
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this is ABI breaking change, we will not backport this to downstream.
for backports, we will use #3219
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Pulls: #3220
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skyegalaxy
approved these changes
Aug 11, 2026
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Description
retarget #3216 to rolling and pull some tests from http://github.com/ros2/rclcpp/pull/3219
Fixes # (issue)
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