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Fix Blackboard thread-safety bugs and XML null pointer dereference #1658

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Fix Blackboard thread-safety bugs and XML null pointer dereference

Fix Blackboard thread-safety bugs and XML null pointer dereference #1658

Run time

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Job Run time
industrial_ci (humble, main)
4m 25s
industrial_ci (jazzy, main)
4m 25s
8m 50s