Segfault in planner server on Eloquent

[blacksoul000]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Version or commit hash:
  • from source: ea1667e
• DDS implementation:
  • Fast-RTPS

Steps to reproduce issue

Follow waypoints for some minutes (about 2 min).

Expected behavior

No segfault.

Actual behavior

Segfault

Additional information

geometry2 updated to bab90b3b74174599866cb76675bdcceac9efad1e

nav2.zip

#0 __memmove_avx_unaligned_erms () at ../sysdeps/x86_64/multiarch/memmove-vec-unaligned-erms.S:306 #1 0x00007fffa43dcb6d in nav2_navfn_planner::NavfnPlanner::smoothApproachToGoal(geometry_msgs::msg::Pose_<std::allocator<void> > const&, nav_msgs::msg::Path_<std::allocator<void> >&) () from /home/user/workspace/nav2/install/nav2_navfn_planner/lib/libnav2_navfn_planner.so #2 0x00007fffa43de6be in nav2_navfn_planner::NavfnPlanner::makePlan(geometry_msgs::msg::Pose_<std::allocator<void> > const&, geometry_msgs::msg::Pose_<std::allocator<void> > const&, double, nav_msgs::msg::Path_<std::allocator<void> >&) () from /home/user/workspace/nav2/install/nav2_navfn_planner/lib/libnav2_navfn_planner.so #3 0x00007fffa43de8c5 in nav2_navfn_planner::NavfnPlanner::createPlan(geometry_msgs::msg::PoseStamped_<std::allocator<void> > const&, geometry_msgs::msg::PoseStamped_<std::allocator<void> > const&) () from /home/user/workspace/nav2/install/nav2_navfn_planner/lib/libnav2_navfn_planner.so #4 0x00007ffff7b8a63d in nav2_planner::PlannerServer::computePlan() () from /home/user/workspace/nav2/install/nav2_planner/lib/libplanner_server_core.so #5 0x00007ffff7b9da1b in nav2_util::SimpleActionServer<nav2_msgs::action::ComputePathToPose, rclcpp::Node>::work() () from /home/user/workspace/nav2/install/nav2_planner/lib/libplanner_server_core.so #6 0x00007ffff7b9e07c in std::_Function_handler<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> (), std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::ComputePathToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::ComputePathToPose> >)::{lambda()#1}> >, void> >::_M_invoke(std::_Any_data const&) () from /home/user/workspace/nav2/install/nav2_planner/lib/libplanner_server_core.so #7 0x00007ffff7b90e19 in std::__future_base::_State_baseV2::_M_do_set(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*) () from /home/user/workspace/nav2/install/nav2_planner/lib/libplanner_server_core.so #8 0x00007ffff73b7827 in __pthread_once_slow (once_control=0x7fffb8001e18, init_routine=0x7ffff6ec98a0 <__once_proxy>) at pthread_once.c:116 #9 0x00007ffff7b924dd in std::thread::_State_impl<std::thread::_Invoker<std::tuple<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::ComputePathToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::ComputePathToPose> >)::{lambda()#1}> >, void>::_Async_state_impl(std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::ComputePathToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::ComputePathToPose> >)::{lambda()#1}>&&)::{lambda()#1}> > >::_M_run() () from /home/user/workspace/nav2/install/nav2_planner/lib/libplanner_server_core.so #10 0x00007ffff6eca6df in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6 #11 0x00007ffff73af6db in start_thread (arg=0x7fff697fa700) at pthread_create.c:463 #12 0x00007ffff692588f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

[SteveMacenski]

@blacksoul000 this is duplicate of #1608 that was fixed with #1612 in master. We did not backport this to eloquent but we'd be happy to. Can you cherry pick that commit to Eloquent and submit a PR?

Thank you for the traceback, that made finding the issue very quick.

[blacksoul000]

Done. #1767