Setting qos_overriding_options in create_publisher or create_subscription for a new Pub or Sub from within a dynamic parameter callback creates a deadlock condition when resource locking is required

[SteveMacenski]

Operating System:

Ubuntu 24.04

ROS version or commit hash:

Rolling

Client library (if applicable):

rclcpp

Steps to reproduce issue

We use create_publisher for creating publishers generally and I have been working to expose more of the advanced features within Nav2's LifecycleNode. Including among them qos_overriding_options for overriding the QoS policies based on a single parameter allow_parameter_qos_overrides.

I found that generally this works fine and there is no issue in the lifecycle transition functions. However, when using create_publisher in the callback of a dynamic parameter to reinitialize an object, the program deadlocks at rclcpp::create_publisher.

What's interesting is that in all cases, these publishers previously existed so the parameters should have already been declared that this logic is declare or getting. That makes me think that (a) its declaring again and that causes a problem or (b) the get logic is wrong and this is being uncovered by running this 2x.

I suspect this is also true of create_subscription, but create_publisher is the only one I was debugging at the moment. I see some tests passing in my refactor with subscriptions interestingly enough, but I'm not sure if that is because we didn't test them thoroughly enough or it really is only create_publisher that has this error

Expected behavior

Publisher is created and program can continue as normal

Actual behavior

Publisher is created and program is permanently deadlocked

Additional information

No response