AddressSanitizer report bt_navigator SEGV

[zouyonghao]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04.2 LTS
• ROS2 Version:
  • Foxy
• Version or commit hash:
  • a7955d8
• DDS implementation:
  • no idea, using the default configuration

Steps to reproduce issue

Just run some random navigation tasks with ASAN enabled.

Additional information

---

[bt_navigator-11] [INFO] [1628499925.752805320] [bt_navigator]: Begin navigating from current location to (0.54, 1.66)
[bt_navigator-11] [ERROR] [1628499925.787389556] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"
[bt_navigator-11] [WARN] [1628499925.787467902] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[bt_navigator-11] [INFO] [1628499939.343112578] [bt_navigator]: Begin navigating from current location to (-2.86, -1.21)
[bt_navigator-11] AddressSanitizer:DEADLYSIGNAL
[bt_navigator-11] =================================================================
[bt_navigator-11] ==14078==ERROR: AddressSanitizer: SEGV on unknown address 0x0000000000a8 (pc 0x7f4c699d5fc4 bp 0x616000078980 sp 0x7f4c5c569328 T17)
[bt_navigator-11] ==14078==The signal is caused by a READ memory access.
[bt_navigator-11] ==14078==Hint: address points to the zero page.
[bt_navigator-11]     #0 0x7f4c699d5fc3 in pthread_mutex_lock (/lib/x86_64-linux-gnu/libpthread.so.0+0xbfc3)
[bt_navigator-11]     #1 0x7f4c6a5453fd in nav2_behavior_tree::BtActionNode<nav2_msgs::action::ComputePathToPose>::tick() (/root/dev_ws/install/nav2_behavior_tree/lib/libnav2_compute_path_to_pose_action_bt_node.so+0x353fd)
[bt_navigator-11]     #2 0x7f4c69ef5733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
[bt_navigator-11]     #3 0x7f4c6a1b7e7d in nav2_behavior_tree::RecoveryNode::tick() (/root/dev_ws/install/nav2_behavior_tree/lib/libnav2_recovery_node_bt_node.so+0x6e7d)
[bt_navigator-11]     #4 0x7f4c69ef5733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
[bt_navigator-11]     #5 0x7f4c6a281b59 in nav2_behavior_tree::RateController::tick() (/root/dev_ws/install/nav2_behavior_tree/lib/libnav2_rate_controller_bt_node.so+0x5b59)
[bt_navigator-11]     #6 0x7f4c69ef5733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
[bt_navigator-11]     #7 0x7f4c69ef3602 in BT::DecoratorNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6b602)
[bt_navigator-11]     #8 0x7f4c6a16ab92 in nav2_behavior_tree::PipelineSequence::tick() (/root/dev_ws/install/nav2_behavior_tree/lib/libnav2_pipeline_sequence_bt_node.so+0x4b92)
[bt_navigator-11]     #9 0x7f4c69ef5733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
[bt_navigator-11]     #10 0x7f4c6a1b7e7d in nav2_behavior_tree::RecoveryNode::tick() (/root/dev_ws/install/nav2_behavior_tree/lib/libnav2_recovery_node_bt_node.so+0x6e7d)
[bt_navigator-11]     #11 0x7f4c69ef5733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
[bt_navigator-11]     #12 0x7f4c6a554bb2 in nav2_behavior_tree::BehaviorTreeEngine::run(BT::Tree*, std::function<void ()>, std::function<bool ()>, std::chrono::duration<long, std::ratio<1l, 1000l> >) (/root/dev_ws/install/nav2_behavior_tree/lib/libnav2_behavior_tree.so+0x3bb2)
[bt_navigator-11]     #13 0x7f4c6966d2c2 in nav2_bt_navigator::BtNavigator::navigateToPose() /root/dev_ws/src/navigation2/nav2_bt_navigator/src/bt_navigator.cpp:310:42
[bt_navigator-11]     #14 0x7f4c6977b453 in std::function<void ()>::operator()() const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:688:14
[bt_navigator-11]     #15 0x7f4c6977b453 in nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::work() /root/dev_ws/install/nav2_util/include/nav2_util/simple_action_server.hpp:144:9
[bt_navigator-11]     #16 0x7f4c6977a9ba in nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()::operator()() const /root/dev_ws/install/nav2_util/include/nav2_util/simple_action_server.hpp:135:68
[bt_navigator-11]     #17 0x7f4c6977a9ba in void std::__invoke_impl<void, nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()>(std::__invoke_other, nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:60:14
[bt_navigator-11]     #18 0x7f4c6977a9ba in std::__invoke_result<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()>::type std::__invoke<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()>(nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
[bt_navigator-11]     #19 0x7f4c6977a9ba in void std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >::_M_invoke<0ul>(std::_Index_tuple<0ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:244:13
[bt_navigator-11]     #20 0x7f4c6977a9ba in std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >::operator()() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:251:11
[bt_navigator-11]     #21 0x7f4c6977a9ba in 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::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>::operator()() const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/future:1362:6
[bt_navigator-11]     #22 0x7f4c6977a7d9 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::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >::_M_invoke(std::_Any_data const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:285:9
[bt_navigator-11]     #23 0x7f4c6a53150c 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*) (/root/dev_ws/install/nav2_behavior_tree/lib/libnav2_compute_path_to_pose_action_bt_node.so+0x2150c)
[bt_navigator-11]     #24 0x7f4c699dc47e in __pthread_once_slow (/lib/x86_64-linux-gnu/libpthread.so.0+0x1247e)
[bt_navigator-11]     #25 0x7f4c69779f02 in __gthread_once(int*, void (*)()) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/x86_64-linux-gnu/c++/9/bits/gthr-default.h:700:12
[bt_navigator-11]     #26 0x7f4c69779f02 in void std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/mutex:683:17
[bt_navigator-11]     #27 0x7f4c69779f02 in std::__future_base::_State_baseV2::_M_set_result(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>, bool) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/future:401:2
[bt_navigator-11]     #28 0x7f4c69779f02 in std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>::_Async_state_impl(std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&)::'lambda'()::operator()() const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/future:1662:3
[bt_navigator-11]     #29 0x7f4c692bcde3  (/lib/x86_64-linux-gnu/libstdc++.so.6+0xd6de3)
[bt_navigator-11]     #30 0x7f4c699d3608 in start_thread (/lib/x86_64-linux-gnu/libpthread.so.0+0x9608)
[bt_navigator-11]     #31 0x7f4c68f9f292 in clone /build/glibc-eX1tMB/glibc-2.31/misc/../sysdeps/unix/sysv/linux/x86_64/clone.S:95
[bt_navigator-11] 
[bt_navigator-11] AddressSanitizer can not provide additional info.
[bt_navigator-11] SUMMARY: AddressSanitizer: SEGV (/lib/x86_64-linux-gnu/libpthread.so.0+0xbfc3) in pthread_mutex_lock
[bt_navigator-11] Thread T17 created by T0 here:
[bt_navigator-11]     #0 0x482cba in pthread_create (/root/dev_ws/build/nav2_bt_navigator/bt_navigator+0x482cba)
[bt_navigator-11]     #1 0x7f4c692bd0a8 in std::thread::_M_start_thread(std::unique_ptr<std::thread::_State, std::default_delete<std::thread::_State> >, void (*)()) (/lib/x86_64-linux-gnu/libstdc++.so.6+0xd70a8)
[bt_navigator-11]     #2 0x7f4c69775aaf in void __gnu_cxx::new_allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >::construct<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> > >(std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>*, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/ext/new_allocator.h:147:23
[bt_navigator-11]     #3 0x7f4c69775aaf in void std::allocator_traits<std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> > >::construct<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> > >(std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >&, std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>*, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/alloc_traits.h:484:8
[bt_navigator-11]     #4 0x7f4c69775aaf in std::_Sp_counted_ptr_inplace<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>, std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> > >(std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/shared_ptr_base.h:548:4
[bt_navigator-11]     #5 0x7f4c69775aaf in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>, std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> > >(std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>*&, std::_Sp_alloc_shared_tag<std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> > >, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/shared_ptr_base.h:680:6
[bt_navigator-11]     #6 0x7f4c69775aaf in std::__shared_ptr<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> > >(std::_Sp_alloc_shared_tag<std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> > >, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/shared_ptr_base.h:1344:14
[bt_navigator-11]     #7 0x7f4c69775aaf in std::shared_ptr<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >::shared_ptr<std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> > >(std::_Sp_alloc_shared_tag<std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> > >, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/shared_ptr.h:359:4
[bt_navigator-11]     #8 0x7f4c69775aaf in std::shared_ptr<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> > std::allocate_shared<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>, std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> >, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> > >(std::allocator<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> > const&, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/shared_ptr.h:701:14
[bt_navigator-11]     #9 0x7f4c69775aaf in std::shared_ptr<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void> > std::make_shared<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >, void>, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> > >(std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/shared_ptr.h:717:14
[bt_navigator-11]     #10 0x7f4c69775aaf in std::shared_ptr<std::__future_base::_State_baseV2> std::__future_base::_S_make_async_state<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> > >(std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/future:1700:14
[bt_navigator-11]     #11 0x7f4c69775aaf in std::future<std::__invoke_result<std::decay<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()>::type>::type> std::async<nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()>(std::launch, nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)::'lambda'()&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/future:1714:18
[bt_navigator-11]     #12 0x7f4c6975e035 in nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >) /root/dev_ws/install/nav2_util/include/nav2_util/simple_action_server.hpp:135:27
[bt_navigator-11]     #13 0x7f4c697822f8 in void std::__invoke_impl<void, void (nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::*&)(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >), nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>*&, std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> > >(std::__invoke_memfun_deref, void (nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::*&)(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >), nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>*&, std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:73:14
[bt_navigator-11]     #14 0x7f4c697650be in std::function<void (std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >)>::operator()(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::NavigateToPose> >) const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:688:14
[bt_navigator-11]     #15 0x7f4c697650be in rclcpp_action::Server<nav2_msgs::action::NavigateToPose>::call_goal_accepted_callback(std::shared_ptr<rcl_action_goal_handle_t>, std::array<unsigned char, 16ul>, std::shared_ptr<void>) /opt/ros/foxy/include/rclcpp_action/server.hpp:429:5
[bt_navigator-11]     #16 0x7f4c6998db2c in rclcpp_action::ServerBase::execute_goal_request_received() (/opt/ros/foxy/lib/librclcpp_action.so+0x15b2c)
[bt_navigator-11] 
[bt_navigator-11] ==14078==ABORTING

[SteveMacenski]

I’m not clear what this is in reference to. If this is for your other ticket on goal cancellation, close this ticket and the other one like this and add it to that ticket’s thread. Do not make new tickets for a single issue.

If this is unrelated, you need to provide alot more information about what/why/when/etc

[SteveMacenski]

After more thinking, I'm almost entirely sure that these are with regards to #2499 so I'm moving this content over and closing the ticket. Lets discuss there, lets keep all discussions and new information on that topic in that ticket please.