AddressSanitizer report planner_server 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.

Recently I tested nav2 several times, reported issues #2505 #2504 #2499 and send pull requests #2503 , and I am sorry about that some of them can not reliably reproduced. Hope we can fix these issues after discussing about them.

Additional information

[bt_navigator-11] [INFO] [1628502832.499278392] [bt_navigator]: Begin navigating from current location to (1.19, -2.35)
[planner_server-9] AddressSanitizer:DEADLYSIGNAL
[planner_server-9] =================================================================
[planner_server-9] ==3623==ERROR: AddressSanitizer: SEGV on unknown address 0x60302b800023 (pc 0x7f01a43a6fb8 bp 0x7f019cf8d110 sp 0x7f019cf8b420 T12)
[planner_server-9] ==3623==The signal is caused by a READ memory access.
[planner_server-9]     #0 0x7f01a43a6fb7 in rmw_fastrtps_shared_cpp::__rmw_trigger_guard_condition(char const*, rmw_guard_condition_t const*) (/opt/ros/foxy/lib/librmw_fastrtps_shared_cpp.so+0x3afb7)
[planner_server-9]     #1 0x7f01a777dca8 in rcl_trigger_guard_condition (/opt/ros/foxy/lib/librcl.so+0x15ca8)
[planner_server-9]     #2 0x7f01a778c7fb  (/opt/ros/foxy/lib/librcl.so+0x247fb)
[planner_server-9]     #3 0x7f01a778b55c  (/opt/ros/foxy/lib/librcl.so+0x2355c)
[planner_server-9]     #4 0x7f01a778c1da in rcl_set_ros_time_override (/opt/ros/foxy/lib/librcl.so+0x241da)
[planner_server-9]     #5 0x7f01a7af510a in rclcpp::TimeSource::set_clock(std::shared_ptr<builtin_interfaces::msg::Time_<std::allocator<void> > >, bool, std::shared_ptr<rclcpp::Clock>) (/opt/ros/foxy/lib/librclcpp.so+0x15c10a)
[planner_server-9]     #6 0x7f01a7af6e98 in rclcpp::TimeSource::clock_cb(std::shared_ptr<rosgraph_msgs::msg::Clock_<std::allocator<void> > >) (/opt/ros/foxy/lib/librclcpp.so+0x15de98)
[planner_server-9]     #7 0x7f01a7aff367 in std::_Function_handler<void (std::shared_ptr<rosgraph_msgs::msg::Clock_<std::allocator<void> > >), std::_Bind<void (rclcpp::TimeSource::* (rclcpp::TimeSource*, std::_Placeholder<1>))(std::shared_ptr<rosgraph_msgs::msg::Clock_<std::allocator<void> > >)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<rosgraph_msgs::msg::Clock_<std::allocator<void> > >&&) (/opt/ros/foxy/lib/librclcpp.so+0x166367)
[planner_server-9]     #8 0x7f01a7b0e6be in rclcpp::AnySubscriptionCallback<rosgraph_msgs::msg::Clock_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<rosgraph_msgs::msg::Clock_<std::allocator<void> > >, rclcpp::MessageInfo const&) (/opt/ros/foxy/lib/librclcpp.so+0x1756be)
[planner_server-9]     #9 0x7f01a7b1232e in rclcpp::Subscription<rosgraph_msgs::msg::Clock_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<rosgraph_msgs::msg::Clock_<std::allocator<void> >, std::allocator<void> > >::handle_message(std::shared_ptr<void>&, rclcpp::MessageInfo const&) (/opt/ros/foxy/lib/librclcpp.so+0x17932e)
[planner_server-9]     #10 0x7f01a7a7002b  (/opt/ros/foxy/lib/librclcpp.so+0xd702b)
[planner_server-9]     #11 0x7f01a7a708ea in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) (/opt/ros/foxy/lib/librclcpp.so+0xd78ea)
[planner_server-9]     #12 0x7f01a7a710a4 in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) (/opt/ros/foxy/lib/librclcpp.so+0xd80a4)
[planner_server-9]     #13 0x7f01a7a75a4b in rclcpp::executors::SingleThreadedExecutor::spin() (/opt/ros/foxy/lib/librclcpp.so+0xdca4b)
[planner_server-9]     #14 0x7f01a7fa61bc in std::thread::_State_impl<std::thread::_Invoker<std::tuple<nav2_util::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::'lambda'()> > >::_M_run() (/root/dev_ws/install/nav2_util/lib/libnav2_util_core.so+0x511bc)
[planner_server-9]     #15 0x7f01a7511de3  (/lib/x86_64-linux-gnu/libstdc++.so.6+0xd6de3)
[planner_server-9]     #16 0x7f01a797f608 in start_thread (/lib/x86_64-linux-gnu/libpthread.so.0+0x9608)
[planner_server-9]     #17 0x7f01a71f4292 in clone /build/glibc-eX1tMB/glibc-2.31/misc/../sysdeps/unix/sysv/linux/x86_64/clone.S:95
[planner_server-9] 
[planner_server-9] AddressSanitizer can not provide additional info.
[planner_server-9] SUMMARY: AddressSanitizer: SEGV (/opt/ros/foxy/lib/librmw_fastrtps_shared_cpp.so+0x3afb7) in rmw_fastrtps_shared_cpp::__rmw_trigger_guard_condition(char const*, rmw_guard_condition_t const*)
[planner_server-9] Thread T12 created by T0 here:
[planner_server-9]     #0 0x482cba in pthread_create (/root/dev_ws/build/nav2_planner/planner_server+0x482cba)
[planner_server-9]     #1 0x7f01a75120a8 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)
[planner_server-9] 
[planner_server-9] ==3623==ABORTING
[ERROR] [planner_server-9]: process has died [pid 3623, exit code 1, cmd '/root/dev_ws/install/nav2_planner/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmpgr_7y891 -r /tf:=tf -r /tf_static:=tf_static'].

[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]

But if this is related to cancelation, this trace points to it being an issue in the fast rtps rmw. You should file a ticket with them with the information of these 3 tickets and close them on nav2

[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.