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Fix for timer/srv-server finalization issue 2283 #2284

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Fix for timer/srv-server finalization issue 2283 #2284

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Commits on Sep 28, 2022

  1. CallbackQueue removeByID blocks unless callback self-removes (ros#2283) 

    Making sure currently executing callback finishes before removing
thread returns from removeByID allows to avoid race condition in
a case when e.g. ros::Timer held in a class and capturing `this`
is stopped just before destruction of the class and its data members:
https://github.com/aurzenligl/study/blob/master/ros-timer/src/race.cpp
    @aurzenligl
    aurzenligl committed Sep 28, 2022
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  2. Remove trailing whitespace (ros#2283)

    @aurzenligl
    aurzenligl committed Sep 28, 2022
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  3. Fix for testcase assuming non-blocking removeByID (ros#2283) 

    Rationale for the testcase was the following deadlock scenario:
https://gist.github.com/iwanders/ede48fb649fd47f9b1f9a52c527b463c

Changed testcase presents how the same scenario can be carried
out with blocking removeByID (with exception for self-removal).
The external mutex from the scenario must be unlocked for the
call of ros::Timer::stop, otherwise scenario stays as it is.
External thread returns from removeByID once cb call finishes,
spinner thread returns immediately.
    @aurzenligl
    aurzenligl committed Sep 28, 2022
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  4. New testcase checks removeByID blocks until cb call finishes (ros#2283)

    @aurzenligl
    aurzenligl committed Sep 28, 2022
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