fix(FTS): shutdown race with interfaces

[christophfroehlich]

Description

1. force_torque_sensor_broadcaster calls get_values_as_message in update loop.
2. That calls update_data_from_interfaces.
3. During deactivation, release_interfaces clears loaned state interfaces.
4. A final update tick can still run and index state_interfaces[interface_counter], triggering libstdc++ bounds assert and SIGABRT.

Fixes ros-controls/ros2_control_ci#859
Fixes ros-controls/ros2_control_ci#859

Is this user-facing behavior change?

no

Did you use Generative AI?

GPT5.3 Codex

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 89.54%. Comparing base (4bcce09) to head (546bc04).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #3492      +/-   ##
==========================================
+ Coverage   89.51%   89.54%   +0.02%     
==========================================
  Files         164      164              
  Lines       21265    21284      +19     
  Branches     1658     1658              
==========================================
+ Hits        19036    19058      +22     
+ Misses       1530     1528       -2     
+ Partials      699      698       -1     

Flag	Coverage Δ
unittests	89.54% <100.00%> (+0.02%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...nclude/semantic_components/force_torque_sensor.hpp	96.00% <100.00%> (ø)
...roller_interface/test/test_force_torque_sensor.cpp	96.55% <100.00%> (+1.02%)	⬆️
...roller_interface/test/test_force_torque_sensor.hpp	100.00% <ø> (ø)

... and 1 file with indirect coverage changes

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[saikishor]

Should this be even true after the release_interfaces is called?

[christophfroehlich]

it is always true as of now:

ros2_control/controller_interface/include/semantic_components/force_torque_sensor.hpp

Lines 129 to 140 in 4bcce09

	bool get_values_as_message(geometry_msgs::msg::Wrench & message) const
	{
	update_data_from_interfaces();
	message.force.x = data_[0];
	message.force.y = data_[1];
	message.force.z = data_[2];
	message.torque.x = data_[3];
	message.torque.y = data_[4];
	message.torque.z = data_[5];
	return true;
	}

We could change the API of update_data_from_interfaces to return false if the sizes do not match, and early abort here?