ControlBoardControlTest fails in a non deterministic way

[traversaro]

This can be easily reproduced locally with:

ctest -R "Control" --output-on-failure --repeat-until-fail 1000

[traversaro]

Failure are of two kind:

ControlBoard mode not set

[INFO] |yarp.dev.PolyDriver| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
/home/traversaro/robotology-superbuild/src/GazeboYARPPlugins/tests/ControlBoardControlTest.cc:104: Failure
Expected equality of these values:
  controlMode
    Which is: 1634105192
  VOCAB_CM_POSITION
    Which is: 7565168
[Dbg] [ControlBoardControlTest.cc:110] Setting desired position via YARP to 2
/home/traversaro/robotology-superbuild/src/GazeboYARPPlugins/tests/ControlBoardControlTest.cc:121: Failure
The difference between joint->Position(0u)*rad2deg and desiredPositionInDeg is 2, which exceeds 1e-2, where
joint->Position(0u)*rad2deg evaluates to 0,
desiredPositionInDeg evaluates to 2, and
1e-2 evaluates to 0.01.
/home/traversaro/robotology-superbuild/src/GazeboYARPPlugins/tests/ControlBoardControlTest.cc:132: Failure
Expected equality of these values:
  controlMode
    Which is: 1634105192
  VOCAB_CM_VELOCITY
    Which is: 7103862

Boost resource deadlock avoided

[INFO] |yarp.os.impl.PortCoreInputUnit| Removing input from /ControlBoardControlTest/command:o to /pendulumGazebo/body/command:i
[INFO] |yarp.os.impl.PortCoreOutputUnit| Removing output from /ControlBoardControlTest/command:o to /pendulumGazebo/body/command:i
[INFO] |yarp.os.impl.PortCoreOutputUnit| output for route /pendulumGazebo/body/stateExt:o->udp->/ControlBoardControlTest/stateExt:i asking other side to close by out-of-band means
[INFO] |yarp.os.impl.PortCoreInputUnit| Removing input from /pendulumGazebo/body/stateExt:o to /ControlBoardControlTest/stateExt:i
[INFO] |yarp.os.impl.PortCoreOutputUnit| Removing output from /pendulumGazebo/body/stateExt:o to /ControlBoardControlTest/stateExt:i
[Dbg] [ServerFixture.cc:130] ServerFixture::Unload
terminate called after throwing an instance of 'boost::wrapexcept<boost::thread_resource_error>'
  what():  boost thread: trying joining itself: Resource deadlock avoided

[traversaro]

Possible related issues:

• Protect DepthCameraPlugin globals with a mutex gazebosim/gazebo-classic#2949
• Avoid deadlock in ConnectionManager::Stop gazebosim/gazebo-classic#2950