rclcpp::spin_some(node) Occasionally crash.

[BaiCai1990]

Bug report

Required Info:

• Operating System:
  Debian 10 buster
• Installation type:
  from source
• Version or commit hash:
  ref: refs/heads/master
• DDS implementation:
  Fast-RTPS
• Client library (if applicable):
  rclcpp

Steps to reproduce issue

--This issue is occationally occurs. Blow is the code.
rclcpp::WallRate main_loop(100);     
while(rclcpp::ok)
{
  rclcpp::spin_some(ros_node_);
  current_state = GetCurrentState();
  switch(current_state){
  case IDLE:{
    rclcpp::WallRate r(100);
    while(rclcpp::ok() && GetCurrentState() == IDLE){
    rclcpp::spin_some(ros_node_);                               //!!!!!!!!!!!!!!!!!!!!!!!! **crashed here**!!!!
    // other code
    r.sleep();
    }
    break;
  }
  case WALK:{
    rclcpp::WallRate r(100);
    while(rclcpp::ok() && GetCurrentState() == WALK){
      rclcpp::spin_some(ros_node_);
      // other code
      r.sleep();
    }
    break;
  }

  main_loop.sleep();
}

Expected behavior

run normal

Actual behavior

When state switch from WALK to IDLE, the program will occationally crash in rclcpp::spin_some()

Additional information

In WALK state the loop is time-consumming than IDLE state

#0  0x00007ffff22a2704 in eprosima::fastrtps::rtps::StatefulReader::send_acknack(eprosima::fastrtps::rtps::WriterProxy const*, eprosima::fastrtps::rtps::RTPSMessageSenderInterface const&, bool) ()
   from /opt/ros2_foxy/install/fastrtps/lib/libfastrtps.so.2
#1  0x00007ffff229fc7c in std::_Function_handler<bool (), eprosima::fastrtps::rtps::WriterProxy::WriterProxy(eprosima::fastrtps::rtps::StatefulReader*, eprosima::fastrtps::rtps::RemoteLocatorsAllocationAttributes const&, eprosima::fastrtps::ResourceLimitedContainerConfig const&)::{lambda()#1}>::_M_invoke(std::_Any_data const&) ()
   from /opt/ros2_foxy/install/fastrtps/lib/libfastrtps.so.2
#2  0x00007ffff2273080 in eprosima::fastrtps::rtps::TimedEventImpl::trigger(std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > >, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > >) ()
   from /opt/ros2_foxy/install/fastrtps/lib/libfastrtps.so.2
#3  0x00007ffff2271bbc in eprosima::fastrtps::rtps::ResourceEvent::do_timer_actions() ()
   from /opt/ros2_foxy/install/fastrtps/lib/libfastrtps.so.2
#4  0x00007ffff22720bb in eprosima::fastrtps::rtps::ResourceEvent::event_service() ()
   from /opt/ros2_foxy/install/fastrtps/lib/libfastrtps.so.2
#5  0x00007ffff67e1b2f in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff7e6dfa3 in start_thread (arg=<optimized out>) at pthread_create.c:486
#7  0x00007ffff64c14cf in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

[wjwwood]

Please use the issue template:

https://raw.githubusercontent.com/ros2/rclcpp/master/.github/ISSUE_TEMPLATE.md

It should have been pre-filled into your description when creating a new issue.

Also, please provide a traceback if you can. Though not specific to rclcpp the ROS Nav2 project has a nice tutorial for how to get this:

https://navigation.ros.org/tutorials/docs/get_backtrace.html

I'll close this until it's fixed up. Please feel free to edit it or comment here, and I can reopen it in the future.

[BaiCai1990]

Done.
Thinks for your attention.

[clalancette]

@BaiCai1990 The information provided is more helpful (it shows us that it is down in the Fast-RTPS layer). But it is much easier for us to debug if you can provide a completely compiling, working example. Could you please do that so we can try to assign it to the right people?

[ivanpauno]

@BaiCai1990 please also provide a multithreaded traceback (thread apply all bt in gdb), and what exactly was the error message and return code when crashing.

[DensoADAS]

perhaps this is related to #1632 ?
I had at least a similar issue and solved it for me like this

[clalancette]

No response in almost a year, so closing. Please feel free to provide the requested information and reopen.