Segfault in in joint_state_broadcaster::JointStateBroadcaster::init_joint_data() #3123
Description
Rolling-testing
https://github.com/ros-controls/gz_ros2_control/actions/runs/23055669518/attempts/1?pr=791
11: [gazebo-1] Stack trace (most recent call last) in thread 20673:
11: [gazebo-1] #31 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in
11: [gazebo-1] #30 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcba1c6fa63, in __clone
11: [gazebo-1] #29 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcba1be2aa3, in
11: [gazebo-1] #28 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcba1e74db3, in
11: [gazebo-1] #27 Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7fcb6a6c3346, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
11: [gazebo-1] #26 Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7fcb6a6b0069, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
11: [gazebo-1] #25 Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7fcb6a6aceb3, in rclcpp::Executor::execute_service(std::shared_ptr<rclcpp::ServiceBase>)
11: [gazebo-1] #24 Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7fcb6a781ee9, in
11: [gazebo-1] #23 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b6be326, in rclcpp::Service<controller_manager_msgs::srv::SwitchController>::handle_request(std::shared_ptr<rmw_request_id_s>, std::shared_ptr<void>)
11: [gazebo-1] #22 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b6c9815, in rclcpp::AnyServiceCallback<controller_manager_msgs::srv::SwitchController>::dispatch(std::shared_ptr<rclcpp::Service<controller_manager_msgs::srv::SwitchController> > const&, std::shared_ptr<rmw_request_id_s> const&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >)
11: [gazebo-1] #21 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b6d6772, in std::function<void (std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)>::operator()(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >) const
11: [gazebo-1] #20 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b66bd7f, in std::_Function_handler<void (std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >), std::_Bind<void (controller_manager::ControllerManager::*(controller_manager::ControllerManager*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >&&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >&&)
11: [gazebo-1] #19 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b67b3f3, in std::enable_if<is_invocable_r_v<void, std::_Bind<void (controller_manager::ControllerManager::*(controller_manager::ControllerManager*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)>&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > > >, void>::type std::__invoke_r<void, std::_Bind<void (controller_manager::ControllerManager::*(controller_manager::ControllerManager*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)>&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > > >(std::_Bind<void (controller_manager::ControllerManager::*(controller_manager::ControllerManager*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)>&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >&&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >&&)
11: [gazebo-1] #18 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b686f2c, in void std::__invoke_impl<void, std::_Bind<void (controller_manager::ControllerManager::*(controller_manager::ControllerManager*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)>&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > > >(std::__invoke_other, std::_Bind<void (controller_manager::ControllerManager::*(controller_manager::ControllerManager*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)>&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >&&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >&&)
11: [gazebo-1] #17 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b690626, in void std::_Bind<void (controller_manager::ControllerManager::*(controller_manager::ControllerManager*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)>::operator()<std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >, void>(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >&&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >&&)
11: [gazebo-1] #16 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b69754a, in void std::_Bind<void (controller_manager::ControllerManager::*(controller_manager::ControllerManager*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)>::__call<void, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >&&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >&&, 0ul, 1ul, 2ul>(std::tuple<std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >&&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >&&>&&, std::_Index_tuple<0ul, 1ul, 2ul>)
11: [gazebo-1] #15 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b69d7ac, in std::__invoke_result<void (controller_manager::ControllerManager::*&)(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >), controller_manager::ControllerManager*&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > > >::type std::__invoke<void (controller_manager::ControllerManager::*&)(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >), controller_manager::ControllerManager*&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > > >(void (controller_manager::ControllerManager::*&)(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >), controller_manager::ControllerManager*&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >&&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >&&)
11: [gazebo-1] #14 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b6a3d5a, in void std::__invoke_impl<void, void (controller_manager::ControllerManager::*&)(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >), controller_manager::ControllerManager*&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > > >(std::__invoke_memfun_deref, void (controller_manager::ControllerManager::*&)(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >), controller_manager::ControllerManager*&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >&&, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >&&)
11: [gazebo-1] #13 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b51a3c4, in controller_manager::ControllerManager::switch_controller_service_cb(std::shared_ptr<controller_manager_msgs::srv::SwitchController_Request_<std::allocator<void> > >, std::shared_ptr<controller_manager_msgs::srv::SwitchController_Response_<std::allocator<void> > >)
11: [gazebo-1] #12 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b50e92a, in controller_manager::ControllerManager::switch_controller_cb(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, int, bool, rclcpp::Duration const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)
11: [gazebo-1] #11 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b51f2ff, in controller_manager::ControllerManager::manage_switch()
11: [gazebo-1] #10 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_manager/lib/libcontroller_manager.so", at 0x7fcb6b5133cc, in controller_manager::ControllerManager::activate_controllers(std::vector<controller_manager::ControllerSpec, std::allocator<controller_manager::ControllerSpec> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, int)
11: [gazebo-1] #9 Object "/opt/ros/rolling/lib/librclcpp_lifecycle.so", at 0x7fcb6aca73b7, in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::trigger_transition(unsigned char)
11: [gazebo-1] #8 Object "/opt/ros/rolling/lib/librclcpp_lifecycle.so", at 0x7fcb6aca7360, in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::trigger_transition(unsigned char, rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn&)
11: [gazebo-1] #7 Object "/opt/ros/rolling/lib/librclcpp_lifecycle.so", at 0x7fcb6aca66f9, in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::change_state(unsigned char, rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn&)
11: [gazebo-1] #6 Object "/opt/ros/rolling/lib/librclcpp_lifecycle.so", at 0x7fcb6aca63be, in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::execute_callback(unsigned int, rclcpp_lifecycle::State const&) const
11: [gazebo-1] #5 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_interface/lib/libcontroller_interface.so", at 0x7fcb6ad7ce31, in std::_Function_handler<rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn (rclcpp_lifecycle::State const&), controller_interface::ControllerInterfaceBase::init(controller_interface::ControllerInterfaceParams const&)::{lambda(rclcpp_lifecycle::State const&)#3}>::_M_invoke(std::_Any_data const&, rclcpp_lifecycle::State const&)
11: [gazebo-1] #4 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_interface/lib/libcontroller_interface.so", at 0x7fcb6ad7d562, in std::enable_if<is_invocable_r_v<rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn, controller_interface::ControllerInterfaceBase::init(controller_interface::ControllerInterfaceParams const&)::{lambda(rclcpp_lifecycle::State const&)#3}&, rclcpp_lifecycle::State const&>, rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn>::type std::__invoke_r<rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn, controller_interface::ControllerInterfaceBase::init(controller_interface::ControllerInterfaceParams const&)::{lambda(rclcpp_lifecycle::State const&)#3}&, rclcpp_lifecycle::State const&>(controller_interface::ControllerInterfaceBase::init(controller_interface::ControllerInterfaceParams const&)::{lambda(rclcpp_lifecycle::State const&)#3}&, rclcpp_lifecycle::State const&)
11: [gazebo-1] #3 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_interface/lib/libcontroller_interface.so", at 0x7fcb6ad7dc60, in rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn std::__invoke_impl<rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn, controller_interface::ControllerInterfaceBase::init(controller_interface::ControllerInterfaceParams const&)::{lambda(rclcpp_lifecycle::State const&)#3}&, rclcpp_lifecycle::State const&>(std::__invoke_other, controller_interface::ControllerInterfaceBase::init(controller_interface::ControllerInterfaceParams const&)::{lambda(rclcpp_lifecycle::State const&)#3}&, rclcpp_lifecycle::State const&)
11: [gazebo-1] #2 Object "/__w/gz_ros2_control/gz_ros2_control/install/controller_interface/lib/libcontroller_interface.so", at 0x7fcb6ad77628, in controller_interface::ControllerInterfaceBase::init(controller_interface::ControllerInterfaceParams const&)::{lambda(rclcpp_lifecycle::State const&)#3}::operator()(rclcpp_lifecycle::State const&) const
11: [gazebo-1] #1 Object "/opt/ros/rolling/lib/libjoint_state_broadcaster.so", at 0x7fcb6453c2ce, in joint_state_broadcaster::JointStateBroadcaster::on_activate(rclcpp_lifecycle::State const&)
11: [gazebo-1] #0 Object "/opt/ros/rolling/lib/libjoint_state_broadcaster.so", at 0x7fcb6453b760, in joint_state_broadcaster::JointStateBroadcaster::init_joint_data()
11: [gazebo-1] Segmentation fault (Address not mapped to object [0x78])
11: [gazebo-1] Segmentation fault (core dumped)
Happens since February 26th. Is this related to ros2_control or the JSB?