[bt_navigator] A bug of NULL pointer dereference in bt_action_node.hpp.

[easylyou]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04.2 LTS
• ROS2 Version:
  • Foxy
• Version or commit hash:
  • a7955d8
• DDS implementation:
  • default

Steps to reproduce issue

I had done some tests. And it can be reproduced.

// in navigation2/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

void on_new_goal_received()
{
    ...
    auto future_goal_handle = action_client_->async_send_goal(goal_, send_goal_options);
    ...
    // goal_handle_ could be set NULL here.
    // The exception is not handled well.
    goal_handle_ = future_goal_handle.get();
    if (!goal_handle_) {
        throw std::runtime_error("Goal was rejected by the action server");
    }
}

BT::NodeStatus tick() override
{
    if (status() == BT::NodeStatus::IDLE) {
        ...
        setStatus(BT::NodeStatus::RUNNING);
        on_new_goal_received();
    }

    if (rclcpp::ok() && !goal_result_available_) {
        ...
        // goal_handle_ could be NULL here.
        auto goal_status = goal_handle_->get_status();

Reproduce it

• Add the codes below and rebuild. (manually fault injection)
• Send two messages to the topic /goal_pose.
• SEGV.

void on_new_goal_received()
{
    ...
    auto future_goal_handle = action_client_->async_send_goal(goal_, send_goal_options);
    ...
    goal_handle_ = future_goal_handle.get();
    goal_handle_ = NULL;
    RCLCPP_ERROR(node_->get_logger(), "********** in action: %s, INJECT NULL", action_name_.c_str());
    if (!goal_handle_) {
        throw std::runtime_error("Goal was rejected by the action server");
    }
}

Expected behavior

Process should not crash.

Actual behavior

NULL pointer dereference.
I think #2504 is the same issue.

==22779==ERROR: AddressSanitizer: SEGV on unknown address 0x0000000000a8 (pc 0x7f01525dafc4 bp 0x7f0144fc7f20 sp 0x7f0144fc7ef8 T17)
==22779==The signal is caused by a READ memory access.
==22779==Hint: address points to the zero page.
    #0 0x7f01525dafc4 in pthread_mutex_lock /build/glibc-eX1tMB/glibc-2.31/nptl/../nptl/pthread_mutex_lock.c:67:23
    #1 0x7f01543b0bc0 in __gthread_mutex_lock(pthread_mutex_t*) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/x86_64-linux-gnu/c++/9/bits/gthr-default.h:749:12
    #2 0x7f01543c203b in std::mutex::lock() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_mutex.h:100:17
    #3 0x7f01543d81fa in std::lock_guard<std::mutex>::lock_guard(std::mutex&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_mutex.h:159:19
    #4 0x7f0154415fc2 in rclcpp_action::ClientGoalHandle<nav2_msgs::action::ComputePathToPose>::get_status() /opt/ros/foxy/include/rclcpp_action/client_goal_handle_impl.hpp:108:31
    #5 0x7f01543b9eea in nav2_behavior_tree::BtActionNode<nav2_msgs::action::ComputePathToPose>::tick() /home/r1/ros2_clang_navigation/src/navigation2/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp:149:40
    #6 0x7f0152d7b733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
    #7 0x7f015319c602 in nav2_behavior_tree::RecoveryNode::tick() /home/r1/ros2_clang_navigation/src/navigation2/nav2_behavior_tree/plugins/control/recovery_node.cpp:44:53
    #8 0x7f0152d7b733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
    #9 0x7f01535a241e in nav2_behavior_tree::RateController::tick() /home/r1/ros2_clang_navigation/src/navigation2/nav2_behavior_tree/plugins/decorator/rate_controller.cpp:60:53
    #10 0x7f0152d7b733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
    #11 0x7f0152d79602 in BT::DecoratorNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6b602)
    #12 0x7f015301cb82 in nav2_behavior_tree::PipelineSequence::tick() /home/r1/ros2_clang_navigation/src/navigation2/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp:39:39
    #13 0x7f0152d7b733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
    #14 0x7f015319c602 in nav2_behavior_tree::RecoveryNode::tick() /home/r1/ros2_clang_navigation/src/navigation2/nav2_behavior_tree/plugins/control/recovery_node.cpp:44:53
    #15 0x7f0152d7b733 in BT::TreeNode::executeTick() (/opt/ros/foxy/lib/libbehaviortree_cpp_v3.so+0x6d733)
    #16 0x7f0154492b65 in BT::Tree::tickRoot() /opt/ros/foxy/include/behaviortree_cpp_v3/bt_factory.h:187:36
    #17 0x7f01544900d5 in nav2_behavior_tree::BehaviorTreeEngine::run(BT::Tree*, std::function<void ()>, std::function<bool ()>, std::chrono::duration<long, std::ratio<1l, 1000l> >) /home/r1/ros2_clang_navigation/src/navigation2/nav2_behavior_tree/src/behavior_tree_engine.cpp:53:20
    #18 0x7f015215a5a1 in nav2_bt_navigator::BtNavigator::navigateToPose() /home/r1/ros2_clang_navigation/src/navigation2/nav2_bt_navigator/src/bt_navigator.cpp:310:42
    #19 0x7f01522c2450 in void std::__invoke_impl<void, void (nav2_bt_navigator::BtNavigator::*&)(), nav2_bt_navigator::BtNavigator*&>(std::__invoke_memfun_deref, void (nav2_bt_navigator::BtNavigator::*&)(), nav2_bt_navigator::BtNavigator*&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:73:14
    #20 0x7f01522c227d in std::__invoke_result<void (nav2_bt_navigator::BtNavigator::*&)(), nav2_bt_navigator::BtNavigator*&>::type std::__invoke<void (nav2_bt_navigator::BtNavigator::*&)(), nav2_bt_navigator::BtNavigator*&>(void (nav2_bt_navigator::BtNavigator::*&)(), nav2_bt_navigator::BtNavigator*&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #21 0x7f01522c21c5 in void std::_Bind<void (nav2_bt_navigator::BtNavigator::* (nav2_bt_navigator::BtNavigator*))()>::__call<void, 0ul>(std::tuple<>&&, std::_Index_tuple<0ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:400:11
    #22 0x7f01522c2013 in void std::_Bind<void (nav2_bt_navigator::BtNavigator::* (nav2_bt_navigator::BtNavigator*))()>::operator()<void>() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:482:17
    #23 0x7f01522c1c40 in std::_Function_handler<void (), std::_Bind<void (nav2_bt_navigator::BtNavigator::* (nav2_bt_navigator::BtNavigator*))()> >::_M_invoke(std::_Any_data const&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:300:2
    #24 0x7f0154492c68 in std::function<void ()>::operator()() const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:688:14
    #25 0x7f01522ef3b2 in nav2_util::SimpleActionServer<nav2_msgs::action::NavigateToPose, rclcpp::Node>::work() /home/r1/ros2_clang_navigation/install/nav2_util/include/nav2_util/simple_action_server.hpp:144:9
    #26 0x7f01522eecb0 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 /home/r1/ros2_clang_navigation/install/nav2_util/include/nav2_util/simple_action_server.hpp:135:68
    #27 0x7f01522eec50 in nav2_msgs::action::NavigateToPose 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, rclcpp::Node&&, 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
    #28 0x7f01522eeba0 in std::__invoke_result<nav2_msgs::action::NavigateToPose, rclcpp::Node...>::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_msgs::action::NavigateToPose&&, rclcpp::Node&&...) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #29 0x7f01522eeb68 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
    #30 0x7f01522ee8d8 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
    #31 0x7f01522ee5df 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
    #32 0x7f01522ee23e 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
    #33 0x7f01543db2ff in std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>::operator()() const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/std_function.h:688:14
    #34 0x7f01543dabd4 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*) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/future:561:27
    #35 0x7f01543db243 in void std::__invoke_impl<void, 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::__invoke_memfun_deref, 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/bits/invoke.h:73:14
    #36 0x7f01543dafa7 in std::__invoke_result<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*>::type std::__invoke<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*>(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/bits/invoke.h:95:14
    #37 0x7f01543daf18 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*&&)::'lambda'()::operator()() const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/mutex:671:4
    #38 0x7f01543dadf6 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*&&)::'lambda0'()::operator()() const /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/mutex:676:25
    #39 0x7f01543dad72 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*&&)::'lambda0'()::__invoke() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/mutex:676:21
    #40 0x7f01525e147e in __pthread_once_slow /build/glibc-eX1tMB/glibc-2.31/nptl/pthread_once.c:116:7
    #41 0x7f01543b0e60 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
    #42 0x7f01543daa0c 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
    #43 0x7f01543d9c8c 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
    #44 0x7f01522ed1b4 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
    #45 0x7f01522eced0 in nav2_msgs::action::NavigateToPose std::__invoke_impl<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>::_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'()>(std::__invoke_other, rclcpp::Node&&, 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/invoke.h:60:14
    #46 0x7f01522ece20 in std::__invoke_result<nav2_msgs::action::NavigateToPose, rclcpp::Node...>::type std::__invoke<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'()>(nav2_msgs::action::NavigateToPose&&, rclcpp::Node&&...) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #47 0x7f01522ecde8 in void std::thread::_Invoker<std::tuple<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'()> >::_M_invoke<0ul>(std::_Index_tuple<0ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:244:13
    #48 0x7f01522ecda8 in std::thread::_Invoker<std::tuple<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()() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:251:11
    #49 0x7f01522ecbc2 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::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'()> > >::_M_run() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:195:13
    #50 0x7f0151bd8de3  (/lib/x86_64-linux-gnu/libstdc++.so.6+0xd6de3)
    #51 0x7f01525d8608 in start_thread /build/glibc-eX1tMB/glibc-2.31/nptl/pthread_create.c:477:8
    #52 0x7f01518bb292 in clone /build/glibc-eX1tMB/glibc-2.31/misc/../sysdeps/unix/sysv/linux/x86_64/clone.S:95

[SteveMacenski]

PR would be appreciated! Is this still an issue in the main branch? That file's received a bit of attention in the last year and some non-trivial changes have been made to handle some particular crashing cases that may have been covering this.

Honestly, alot of changes have been made since Foxy, I would recommend upgrading to at least Galactic to get about 90% of those.

Just curious, you've brought up about 3-4 issues with solutions -- are you finding any more or just those few? Just wanting to know if I should try to find more of these issues or if you covered them.

[easylyou]

Hi! I think this bug had been fixed in main. I tried several simple fixes in foxy but failed. It seems hard to fix in a few lines. I will close this issue.
My testing environment relies on gazebo simulation but the simulation is not supporting Galactic well now.
The found bugs related to nav2 is by fuzzing technology and most of them have been posted, so you probably needn't worry..