#0  0x00007f0f181f418b in raise () from /usr/lib/x86_64-linux-gnu/libc.so.6
#1  0x00007f0f181d3859 in abort () from /usr/lib/x86_64-linux-gnu/libc.so.6
#2  0x00007f0f1823e3ee in ?? () from /usr/lib/x86_64-linux-gnu/libc.so.6
#3  0x00007f0f1824647c in ?? () from /usr/lib/x86_64-linux-gnu/libc.so.6
#4  0x00007f0f1824812c in ?? () from /usr/lib/x86_64-linux-gnu/libc.so.6
#5  0x00007f0ef70ef1fd in void std::vector<nav2_costmap_2d::CellData, std::allocator<nav2_costmap_2d::CellData> >::emplace_back<unsigned int&, unsigned int&, unsigned int&, unsigned int&, unsigned int&>(unsigned int&, unsigned int&, unsigned int&, unsigned int&, unsigned int&) () from /opt/overlay_ws/install/nav2_costmap_2d/lib/liblayers.so
#6  0x00007f0ef70ec76e in nav2_costmap_2d::InflationLayer::updateCosts(nav2_costmap_2d::Costmap2D&, int, int, int, int) ()
   from /opt/overlay_ws/install/nav2_costmap_2d/lib/liblayers.so
#7  0x00007f0f189965f1 in nav2_costmap_2d::LayeredCostmap::updateMap(double, double, double) () from /opt/overlay_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so
#8  0x00007f0f1899c53c in nav2_costmap_2d::Costmap2DROS::updateMap() () from /opt/overlay_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so
#9  0x00007f0f1899ca64 in nav2_costmap_2d::Costmap2DROS::mapUpdateLoop(double) () from /opt/overlay_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so
#10 0x00007f0f185e2cb4 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#11 0x00007f0f186f6609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#12 0x00007f0f182d0103 in clone () from /usr/lib/x86_64-linux-gnu/libc.so.6

#0  0x00007f8721cf6a41 in ?? () from /usr/lib/x86_64-linux-gnu/libc.so.6
[Current thread is 1 (Thread 0x7f86feffd700 (LWP 180))]
(gdb) bt
#0  0x00007f8721cf6a41 in ?? () from /usr/lib/x86_64-linux-gnu/libc.so.6
#1  0x00007f8721cf7bc9 in ?? () from /usr/lib/x86_64-linux-gnu/libc.so.6
#2  0x00007f871c39c4aa in nav2_costmap_2d::InflationLayer::computeCaches() () from /opt/overlay_ws/install/nav2_costmap_2d/lib/liblayers.so
#3  0x00007f871c39c94a in nav2_costmap_2d::InflationLayer::onFootprintChanged() () from /opt/overlay_ws/install/nav2_costmap_2d/lib/liblayers.so
#4  0x00007f8722445742 in nav2_costmap_2d::LayeredCostmap::setFootprint(std::vector<geometry_msgs::msg::Point_<std::allocator<void> >, std::allocator<geometry_msgs::msg::Point_<std::allocator<void> > > > const&) () from /opt/overlay_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so
#5  0x00007f8722448059 in nav2_costmap_2d::Costmap2DROS::setRobotFootprintPolygon(std::shared_ptr<geometry_msgs::msg::Polygon_<std::allocator<void> > >) ()
   from /opt/overlay_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so
#6  0x00007f872245d2d8 in std::_Function_handler<void (std::shared_ptr<geometry_msgs::msg::Polygon_<std::allocator<void> > >), std::_Bind<void (nav2_costmap_2d::Costmap2DROS::*(nav2_costmap_2d::Costmap2DROS*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::Polygon_<std::allocator<void> > >)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<geometry_msgs::msg::Polygon_<std::allocator<void> > >&&) () from /opt/overlay_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so
#7  0x00007f87224881fd in rclcpp::AnySubscriptionCallback<geometry_msgs::msg::Polygon_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::Polygon_<std::allocator<void> > >, rclcpp::MessageInfo const&) () from /opt/overlay_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so
#8  0x00007f87224892f8 in rclcpp::Subscription<geometry_msgs::msg::Polygon_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::Polygon_<std::allocator<void> >, std::allocator<void> > >::handle_message(std::shared_ptr<void>&, rclcpp::MessageInfo const&) ()
   from /opt/overlay_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so
#9  0x00007f8722bf2b06 in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>)::{lambda()#6}::operator()() const ()
   from /opt/ros/foxy/rclcpp/lib/librclcpp.so
#10 0x00007f8722bf597d in std::_Function_handler<void (), rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>)::{lambda()#6}>::_M_invoke(std::_Any_data const&) () from /opt/ros/foxy/rclcpp/lib/librclcpp.so
#11 0x00007f8722bd6174 in std::function<void ()>::operator()() const () from /opt/ros/foxy/rclcpp/lib/librclcpp.so
#12 0x00007f8722bf21b8 in take_and_do_error_handling(char const*, char const*, std::function<bool ()>, std::function<void ()>) () from /opt/ros/foxy/rclcpp/lib/librclcpp.so
#13 0x00007f8722bf31d6 in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) () from /opt/ros/foxy/rclcpp/lib/librclcpp.so
#14 0x00007f8722bf1f05 in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) () from /opt/ros/foxy/rclcpp/lib/librclcpp.so
#15 0x00007f8722bff91c in rclcpp::executors::SingleThreadedExecutor::spin() () from /opt/ros/foxy/rclcpp/lib/librclcpp.so
#16 0x00007f872238db4d in std::thread::_State_impl<std::thread::_Invoker<std::tuple<nav2_util::NodeThread::NodeThread(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)::{lambda()#1}> > >::_M_run() () from /opt/overlay_ws/install/nav2_util/lib/libnav2_util_core.so
#17 0x00007f8722092cb4 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#18 0x00007f87221a6609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#19 0x00007f8721d80103 in clone () from /usr/lib/x86_64-linux-gnu/libc.so.6