[mergify]

Description

It is not thread-safe calling stopExecution or publishing a "stop" to trajectory_execution_event while trajectory executing. Sometimes it crashes, here's a sample

Program terminated with signal SIGSEGV, Segmentation fault.

#0 0x0000ffffa367ac48 in _gnu_cxx::normal_iterator<moveit_msgs::msg::RobotTrajectory<std::allocator > const*, std::vector<moveit_msgs::msg::RobotTrajectory<std::allocator >, std::allocator<moveit_msgs::msg::RobotTrajectory<std::allocator > > > >::__normal_iterator (__i=, this=)
at /usr/include/c++/11/bits/stl_iterator.h:1028
b1028 : _M_current(__i) { }
[Current thread is 1 (Thread 0xffff1e7cf120 (LWP 4402))]
(gdb)
(gdb)
(gdb) bt
#0 0x0000ffffa367ac48 in _gnu_cxx::normal_iterator<moveit_msgs::msg::RobotTrajectory<std::allocator > const*, std::vector<moveit_msgs::msg::RobotTrajectory<std::allocator >, std::allocator<moveit_msgs::msg::RobotTrajectory<std::allocator > > > >::__normal_iterator (i=, this=)
at /usr/include/c++/11/bits/stl_iterator.h:1028
#1 std::vector<moveit_msgs::msg::RobotTrajectory<std::allocator >, std::allocator<moveit_msgs::msg::RobotTrajectory<std::allocator > > >::end (
this=) at /usr/include/c++/11/bits/stl_vector.h:839
#2 trajectory_execution_manager::TrajectoryExecutionManager::waitForRobotToStop (this=this@entry=0xaaaaeed29f20, context=..., wait_time=wait_time@entry=1)
at /workspace/source/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp:1592
#3 0x0000ffffa36829d4 in trajectory_execution_manager::TrajectoryExecutionManager::executeThread(std::function<void (moveit_controller_manager::ExecutionStatus const&)> const&, std::function<void (unsigned long)> const&, bool) (this=0xaaaaeed29f20, callback=..., part_callback=..., auto_clear=) at /usr/include/c++/11/bits/stl_vector.h:1043
#4 0x0000ffffba7431fc in ?? () from /lib/aarch64-linux-gnu/libstdc++.so.6
#5 0x0000ffffbb92d5c8 in start_thread (arg=0x0) at ./nptl/pthread_create.c:442
#6 0x0000ffffbb995edc in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone.S:79

This CL introduces a lock for interactions with trajectories_ and can fix this issue.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

---

This is an automatic backport of pull request #3198 done by [Mergify](https://mergify.com).

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Codecov Report

Attention: Patch coverage is 0% with 6 lines in your changes missing coverage. Please review.

Project coverage is 44.18%. Comparing base (dfbf1d9) to head (9b11111).
Report is 3 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...ution_manager/src/trajectory_execution_manager.cpp	0.00%	6 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3240      +/-   ##
==========================================
- Coverage   44.18%   44.18%   -0.00%     
==========================================
  Files         698      698              
  Lines       61588    61593       +5     
  Branches     7459     7460       +1     
==========================================
  Hits        27207    27207              
- Misses      34213    34218       +5     
  Partials      168      168              

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