There are 2 tests failed in map server: test_map_saver_node.cpp and test_map_server_node.cpp with the same problem.
Problem appears sometimes on debug, sometimes on release builds, reproducible locally and second test (test_map_server_node) is flaky. It is suggestive of multi-thread nature of problem.

Double free appears in node_ static object when it is being deallocated after main() function will exit. Maybe this is caued by that ::testing::Test also tries to deallocate this object. However, if destroy manually the node_ (and related lifecycle_client_ which also has reference to node_ inside) before it will be deallocated automatically in __GI_exit(), both tests became to pass. Proposed snap for that:

diff --git a/nav2_map_server/test/component/test_map_saver_node.cpp b/nav2_map_server/test/component/test_map_saver_node.cpp
index 864ca4c3..1f57fa20 100644
--- a/nav2_map_server/test/component/test_map_saver_node.cpp
+++ b/nav2_map_server/test/component/test_map_saver_node.cpp
@@ -59,6 +59,8 @@ public:
   {
     lifecycle_client_->change_state(Transition::TRANSITION_DEACTIVATE);
     lifecycle_client_->change_state(Transition::TRANSITION_CLEANUP);
+    lifecycle_client_.reset();
+    node_.reset();
   }
 
   template<class T>
diff --git a/nav2_map_server/test/component/test_map_server_node.cpp b/nav2_map_server/test/component/test_map_server_node.cpp
index 6fa14d9b..e381afec 100644
--- a/nav2_map_server/test/component/test_map_server_node.cpp
+++ b/nav2_map_server/test/component/test_map_server_node.cpp
@@ -59,6 +59,8 @@ public:
     lifecycle_client_->change_state(Transition::TRANSITION_DEACTIVATE);
     lifecycle_client_->change_state(Transition::TRANSITION_CLEANUP);
     lifecycle_client_->change_state(Transition::TRANSITION_UNCONFIGURED_SHUTDOWN);
+    lifecycle_client_.reset();
+    node_.reset();
   }
 
   template<class T>

Also, attaching minimal tescase to reproduce the problem:

#include <gtest/gtest.h>
#include <memory>

#include <rclcpp/rclcpp.hpp>

class RclCppFixture
{
public:
  RclCppFixture() {rclcpp::init(0, nullptr);}
  ~RclCppFixture() {rclcpp::shutdown();}
};

RclCppFixture g_rclcppfixture;

class TestFixture : public ::testing::Test
{
public:
  static void SetUpTestCase()
  {
    failed_node_ = rclcpp::Node::make_shared("failed_node");
  }

  static void TearDownTestCase()
  {
    //failed_node_.reset();  // <- This fixes the problem
  }

protected:
  static rclcpp::Node::SharedPtr failed_node_;
};

rclcpp::Node::SharedPtr TestFixture::failed_node_ = nullptr;

TEST_F(TestFixture, TestCase)
{
  rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("temp_node");
  node.reset();
}

Map server tests are failing #2077

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