Add Realtime Sanitizer (RTsan) support #2809
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👋 Hi,
This is a reminder message to assign an extra build label to this Pull Request if needed.
By default, this PR will be build with minimal build options (URDF support and Python bindings)
The possible extra labels are:
- build_collision (build Pinocchio with coal support)
- build_casadi (build Pinocchio with CasADi support)
- build_autodiff (build Pinocchio with CppAD support)
- build_codegen (build Pinocchio with CppADCodeGen support)
- build_extra (build Pinocchio with extra algorithms)
- build_mpfr (build Pinocchio with Boost.Multiprecision support)
- build_sdf (build Pinocchio with SDF parser)
- build_accelerate (build Pinocchio with APPLE Accelerate framework support)
- build_all (build Pinocchio with ALL the options stated above)
Thanks.
The Pinocchio development team.
jorisv
requested changes
Nov 21, 2025
jorisv
reviewed
Nov 21, 2025
jorisv
reviewed
Nov 21, 2025
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Added a warning annotation in the CI when RTSan unittest failed. Squashed the commits. 
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dont build benchmarks make build depends on configure
later this could be used to instrument the whole library format cmake
format dynamic-allocations.cpp add more models to test test is now failing in multiple parts
format .gitignore
only run on ubuntu-latest add fail-fast strategy for rtsan build continue on error (rtsan) add rtsan build in the check list display correct name on RTsan CI only use run test use || true as continue on error is not working as expected build first, then test display a warning when rtsan fails
ahoarau
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Description
This PR adds initial support for the
Realtime Sanitizer (RTSan)that appeared in clang 20. It allow to check for the "realtime-safeness", by detecting dynamic memory allocations and source of non-determinism (like mutex lock, systems calls etc).Before going all-in and instrument all the code with
[[clang::nonblocking]], we start by writing a unittest that check for a the main API functions.To test:
Typical output might look like this:
https://clang.llvm.org/docs/RealtimeSanitizer.html
https://clang.llvm.org/docs/FunctionEffectAnalysis.html
https://github.com/realtime-sanitizer/rtsan
Checklist
pre-commit run --all-filesorpixi run lint