/loc2d_ros:
  ros__parameters:
    base_frame_id: base_footprint
    d_thresh: 0.02
    global_frame_id: map
    initial_pos_a: 0.0
    initial_pos_x: -2.0
    initial_pos_y: -0.5
    odom_frame_id: odom
    scan_topic: /scan
    transform_tolerance: -0.7
    use_sim_time: true
amcl:
  ros__parameters:
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: base_footprint
    beam_skip_distance: 0.4
    beam_skip_error_threshold: -0.5000000000000001
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: map
    initial_pose:
      x: -2.0
      y: -0.5
      yaw: -0.0
      z: 0.0
    lambda_short: 0.1
    laser_likelihood_max_dist: 0.19999999999999996
    laser_max_range: 87.2
    laser_min_range: -1.4
    laser_model_type: likelihood_field
    max_beams: 60
    max_particles: 1999
    min_particles: 499
    odom_frame_id: odom
    pf_err: -0.05
    pf_z: 13.690000000000001
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: differential
    save_pose_rate: 0.5
    set_initial_pose: true
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    use_sim_time: true
    z_hit: 0.5
    z_max: 3.25
    z_rand: 0.5
    z_short: 0.05
amcl_map_client:
  ros__parameters:
    use_sim_time: true
amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: true
bt_navigator:
  ros__parameters:
    default_bt_xml_filename: /home/shx/ros2_nav_fuzz/src/fuzz/scripts/config/navigate_w_replanning_and_recovery.xml
    global_frame: map
    odom_topic: /odom
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node
    robot_base_frame: base_link
    use_sim_time: true
bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: true
cartographer_node:
  ros__parameters:
    use_sim_time: true
controller_server:
  ros__parameters:
    FollowPath:
      BaseObstacle.scale: 0.02
      GoalAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalDist.scale: 24.0
      PathAlign.forward_point_distance: 0.1
      PathAlign.scale: 22.2
      PathDist.scale: 32.0
      RotateToGoal.lookahead_time: -5.2
      RotateToGoal.scale: 33.6
      RotateToGoal.slowing_factor: 5.0
      acc_lim_theta: 3.2
      acc_lim_x: 2.4
      acc_lim_y: 9.5
      angular_granularity: 0.025
      critics:
      - RotateToGoal
      - Oscillation
      - BaseObstacle
      - GoalAlign
      - PathAlign
      - PathDist
      - GoalDist
      debug_trajectory_details: true
      decel_lim_theta: -3.2
      decel_lim_x: -2.5
      decel_lim_y: 0.0
      linear_granularity: 0.05
      max_speed_xy: 0.22
      max_vel_theta: 1.0
      max_vel_x: 0.22
      max_vel_y: 0.0
      min_speed_theta: 0.0
      min_speed_xy: -0.1
      min_vel_x: -0.1
      min_vel_y: -0.1
      plugin: dwb_core::DWBLocalPlanner
      short_circuit_trajectory_evaluation: true
      sim_time: -11.100000000000001
      stateful: true
      trans_stopped_velocity: 0.15
      transform_tolerance: -1.6
      vtheta_samples: 10
      vx_samples: 9
      vy_samples: 5
      xy_goal_tolerance: 0.25
    controller_frequency: 20.0
    controller_plugins:
    - FollowPath
    min_theta_velocity_threshold: 3.201
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: -0.20000000000000007
    use_sim_time: true
controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: true
ekf_localization:
  ros__parameters:
    gnss_pose_topic: gnss_pose
    imu_topic: imu
    odom_topic: odom
    pub_period: 9
    reference_frame_id: map
    robot_frame_id: base_link
    use_gnss: false
    use_odom: true
    var_gnss: 0.1
    var_imu_acc: 0.01
    var_imu_w: 0.01
    var_odom: 0.1
global_costmap:
  global_costmap:
    ros__parameters:
      always_send_full_costmap: true
      global_frame: map
      inflation_layer:
        cost_scaling_factor: -1.4000000000000004
        inflation_radius: 0.8500000000000001
        plugin: nav2_costmap_2d::InflationLayer
      obstacle_layer:
        enabled: true
        observation_sources: scan
        plugin: nav2_costmap_2d::ObstacleLayer
        scan:
          clearing: true
          data_type: LaserScan
          marking: true
          max_obstacle_height: 2.0
          topic: /scan
      plugins:
      - static_layer
      - obstacle_layer
      - voxel_layer
      - inflation_layer
      publish_frequency: 1.0
      resolution: 0.15000000000000002
      robot_base_frame: base_link
      robot_radius: 0.2
      static_layer:
        map_subscribe_transient_local: true
        plugin: nav2_costmap_2d::StaticLayer
      update_frequency: -2.4000000000000004
      use_sim_time: true
      voxel_layer:
        enabled: true
        mark_threshold: 0
        max_obstacle_height: 2.0
        observation_sources: pointcloud
        origin_z: 1.6
        plugin: nav2_costmap_2d::VoxelLayer
        pointcloud:
          clearing: true
          data_type: PointCloud2
          marking: true
          max_obstacle_height: 2.0
          topic: /intel_realsense_r200_depth/points
        publish_voxel_map: true
        z_resolution: 12.750000000000002
        z_voxels: 15
  global_costmap_client:
    ros__parameters:
      use_sim_time: true
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: true
lifecycle_manager_localization:
  ros__parameters:
    autostart: true
    node_names:
    - map_server
    - amcl
    use_sim_time: true
lifecycle_manager_mapserver:
  ros__parameters:
    autostart: true
    node_names:
    - map_server
    use_sim_time: true
lifecycle_manager_navigation:
  ros__parameters:
    autostart: true
    node_names:
    - controller_server
    - planner_server
    - recoveries_server
    - bt_navigator
    - waypoint_follower
    use_sim_time: true
local_costmap:
  local_costmap:
    ros__parameters:
      always_send_full_costmap: true
      global_frame: odom
      height: -20
      inflation_layer:
        cost_scaling_factor: 0.9
        plugin: nav2_costmap_2d::InflationLayer
      obstacle_layer:
        enabled: true
        observation_sources: scan
        plugin: nav2_costmap_2d::ObstacleLayer
        scan:
          clearing: true
          data_type: LaserScan
          marking: true
          max_obstacle_height: 1.9
          topic: /scan
      plugins:
      - obstacle_layer
      - voxel_layer
      - inflation_layer
      publish_frequency: 1.9
      resolution: 12.750000000000002
      robot_base_frame: base_link
      robot_radius: 0.0
      rolling_window: true
      static_layer:
        map_subscribe_transient_local: false
      update_frequency: 5.0
      use_sim_time: true
      voxel_layer:
        enabled: true
        mark_threshold: 0
        max_obstacle_height: 2.0
        observation_sources: pointcloud
        origin_z: 0.0
        plugin: nav2_costmap_2d::VoxelLayer
        pointcloud:
          clearing: true
          data_type: PointCloud2
          marking: true
          max_obstacle_height: 2.0
          topic: /intel_realsense_r200_depth/points
        publish_voxel_map: true
        z_resolution: 0.05
        z_voxels: 16
      width: -57
  local_costmap_client:
    ros__parameters:
      use_sim_time: true
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: true
map_saver:
  ros__parameters:
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    save_map_timeout: 5042
    use_sim_time: true
map_server:
  ros__parameters:
    use_sim_time: true
    yaml_filename: /home/shx/ros2_nav_fuzz/src/fuzz/scripts/config/turtlebot3_world.yaml
occupancy_grid_node:
  ros__parameters:
    use_sim_time: true
planner_server:
  ros__parameters:
    GridBased:
      allow_unknown: true
      plugin: nav2_navfn_planner/NavfnPlanner
      tolerance: 0.5
      use_astar: false
    expected_planner_frequency: 20.5
    planner_plugins:
    - GridBased
    use_sim_time: true
planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: true
recoveries_server:
  ros__parameters:
    backup:
      plugin: nav2_recoveries/BackUp
    costmap_topic: local_costmap/costmap_raw
    cycle_frequency: 9.9
    footprint_topic: local_costmap/published_footprint
    global_frame: odom
    max_rotational_vel: 2.2
    min_rotational_vel: 1.0
    recovery_plugins:
    - spin
    - backup
    - wait
    robot_base_frame: base_link
    rotational_acc_lim: -8.5
    simulate_ahead_time: 2.0
    spin:
      plugin: nav2_recoveries/Spin
    transform_timeout: 12.700000000000001
    use_sim_time: true
    wait:
      plugin: nav2_recoveries/Wait
robot_state_publisher:
  ros__parameters:
    use_sim_time: true
rtabmap:
  ros__parameters:
    RGBD/NeighborLinkRefining: 'True'
    Reg/Strategy: '1'
    approx_sync: true
    frame_id: base_footprint
    subscribe_depth: false
    subscribe_rgb: false
    subscribe_scan: true
    use_sim_time: true
rtabmap_camera:
  ros__parameters:
    frame_id: base_footprint
    subscribe_depth: true
    use_sim_time: true
slam_toolbox:
  ros__parameters:
    angle_variance_penalty: 1.0
    base_frame: base_footprint
    ceres_dogleg_type: TRADITIONAL_DOGLEG
    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
    ceres_loss_function: None
    ceres_preconditioner: SCHUR_JACOBI
    ceres_trust_strategy: LEVENBERG_MARQUARDT
    coarse_angle_resolution: 0.0349
    coarse_search_angle_offset: -1.2510000000000001
    correlation_search_space_dimension: -12.3
    correlation_search_space_resolution: 0.01
    correlation_search_space_smear_deviation: 0.1
    debug_logging: false
    distance_variance_penalty: 0.5
    do_loop_closing: true
    enable_interactive_mode: true
    fine_search_angle_offset: 0.00349
    link_match_minimum_response_fine: 0.1
    link_scan_maximum_distance: 1.5
    loop_match_maximum_variance_coarse: 3.0
    loop_match_minimum_chain_size: 10
    loop_match_minimum_response_coarse: 4.75
    loop_match_minimum_response_fine: 3.6500000000000004
    loop_search_maximum_distance: 3.0
    loop_search_space_dimension: 8.0
    loop_search_space_resolution: -0.95
    loop_search_space_smear_deviation: -0.07
    map_frame: map
    map_update_interval: 7.7
    max_laser_range: 17.8
    minimum_angle_penalty: -11.9
    minimum_distance_penalty: 3.2
    minimum_time_interval: 3.7
    minimum_travel_distance: 0.5
    minimum_travel_heading: 13.200000000000001
    mode: mapping
    odom_frame: odom
    resolution: 0.05
    scan_buffer_maximum_scan_distance: 10.0
    scan_buffer_size: 10
    scan_topic: /scan
    solver_plugin: solver_plugins::CeresSolver
    stack_size_to_use: 40000000
    tf_buffer_duration: 30.0
    throttle_scans: 2
    transform_publish_period: 0.02
    transform_timeout: -1.7000000000000002
    use_response_expansion: true
    use_scan_barycenter: true
    use_scan_matching: true
    use_sim_time: true

AddressSanitizer:DEADLYSIGNAL
=================================================================
==530988==ERROR: AddressSanitizer: SEGV on unknown address 0x602080061374 (pc 0x7f5603956494 bp 0x7f55f69e5bb0 sp 0x7f55f69e5b60 T13)
==530988==The signal is caused by a WRITE memory access.
    #0 0x7f5603956494 in nav2_costmap_2d::Costmap2D::MarkCell::operator()(unsigned int) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp:476:24
    #1 0x7f56039560ef in void nav2_costmap_2d::Costmap2D::bresenham2D<nav2_costmap_2d::Costmap2D::MarkCell>(nav2_costmap_2d::Costmap2D::MarkCell, unsigned int, unsigned int, int, int, int, unsigned int, unsigned int) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp:439:7
    #2 0x7f560384cfd4 in void nav2_costmap_2d::Costmap2D::raytraceLine<nav2_costmap_2d::Costmap2D::MarkCell>(nav2_costmap_2d::Costmap2D::MarkCell, unsigned int, unsigned int, unsigned int, unsigned int, unsigned int) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp:413:7
    #3 0x7f5603844b03 in nav2_costmap_2d::ObstacleLayer::raytraceFreespace(nav2_costmap_2d::Observation const&, double*, double*, double*, double*) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/plugins/obstacle_layer.cpp:608:5
    #4 0x7f560383fac3 in nav2_costmap_2d::ObstacleLayer::updateBounds(double, double, double, double*, double*, double*, double*) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/plugins/obstacle_layer.cpp:377:5
    #5 0x7f5602f336ee in nav2_costmap_2d::LayeredCostmap::updateMap(double, double, double) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/layered_costmap.cpp:150:16
    #6 0x7f5602f5b21e in nav2_costmap_2d::Costmap2DROS::updateMap() /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_2d_ros.cpp:443:25
    #7 0x7f5602f55568 in nav2_costmap_2d::Costmap2DROS::mapUpdateLoop(double) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_2d_ros.cpp:397:5
    #8 0x7f560312e3c1 in void std::__invoke_impl<void, void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&>(std::__invoke_memfun_deref, void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:73:14
    #9 0x7f560312e11a in std::__invoke_result<void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&>::type std::__invoke<void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&>(void (nav2_costmap_2d::Costmap2DROS::*&)(double), nav2_costmap_2d::Costmap2DROS*&, double&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #10 0x7f560312e037 in void std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)>::__call<void, 0ul, 1ul>(std::tuple<>&&, std::_Index_tuple<0ul, 1ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:400:11
    #11 0x7f560312de73 in void std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)>::operator()<void>() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/functional:482:17
    #12 0x7f560312dd60 in void std::__invoke_impl<void, std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> >(std::__invoke_other, std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)>&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:60:14
    #13 0x7f560312dcb0 in std::__invoke_result<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> >::type std::__invoke<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> >(std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)>&&) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/bits/invoke.h:95:14
    #14 0x7f560312dc78 in void std::thread::_Invoker<std::tuple<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> > >::_M_invoke<0ul>(std::_Index_tuple<0ul>) /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:244:13
    #15 0x7f560312dc38 in std::thread::_Invoker<std::tuple<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> > >::operator()() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:251:11
    #16 0x7f560312d602 in std::thread::_State_impl<std::thread::_Invoker<std::tuple<std::_Bind<void (nav2_costmap_2d::Costmap2DROS::* (nav2_costmap_2d::Costmap2DROS*, double))(double)> > > >::_M_run() /usr/bin/../lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/9/thread:195:13
    #17 0x7f5601b2ede3  (/lib/x86_64-linux-gnu/libstdc++.so.6+0xd6de3)
    #18 0x7f5602099608 in start_thread (/lib/x86_64-linux-gnu/libpthread.so.0+0x9608)
    #19 0x7f5601813292 in clone (/lib/x86_64-linux-gnu/libc.so.6+0x122292)

AddressSanitizer can not provide additional info.
SUMMARY: AddressSanitizer: SEGV /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp:476:24 in nav2_costmap_2d::Costmap2D::MarkCell::operator()(unsigned int)
Thread T13 created by T0 here:
    #0 0x59607a in pthread_create (/home/r1/ros2_nav_fuzz/build/nav2_controller/controller_server+0x59607a)
    #1 0x7f5601b2f0a8 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)
    #2 0x7f5602f54203 in nav2_costmap_2d::Costmap2DROS::on_activate(rclcpp_lifecycle::State const&) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_costmap_2d/src/costmap_2d_ros.cpp:224:28
    #3 0x5f30b7 in nav2_controller::ControllerServer::on_activate(rclcpp_lifecycle::State const&) /home/r1/ros2_nav_fuzz/src/navigation2/nav2_controller/src/nav2_controller.cpp:178:17
    #4 0x7f5602080c27 in rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::execute_callback(unsigned int, rclcpp_lifecycle::State const&) (/opt/ros/foxy/lib/librclcpp_lifecycle.so+0x2bc27)

==530988==ABORTING