Crash when setting should_send_goal_= false in BTActionNode #3434
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 22
- ROS2 Version:
- rolling
- Version or commit hash:
- main
- DDS implementation:
- default
Steps to reproduce issue
- Checkout https://github.com/tonynajjar/navigation2/tree/test-should-send-goal
- run:
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False use_composition:=False(same with composition but logs are clearer) - send a navigate goal from rviz
result:
[rviz2-5] Start navigation
[rviz2-5] [INFO] [1677608877.168918659] [_]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[bt_navigator-13] [INFO] [1677608877.170131589] [bt_navigator]: Begin navigating from current location to (-0.98, -0.64)
[ERROR] [bt_navigator-13]: process has died [pid 77169, exit code -11, cmd '/root/ros2_ws/install/nav2_bt_navigator/lib/nav2_bt_navigator/bt_navigator --ros-args --log-level info --ros-args -r __node:=bt_navigator -p use_sim_time:=True --params-file /tmp/tmp7t00bd9a -r /tf:=tf -r /tf_static:=tf_static'].
[lifecycle_manager-16] [INFO] [1677608881.198937704] [lifecycle_manager_navigation]: Have not received a heartbeat from bt_navigator.
[lifecycle_manager-16] [ERROR] [1677608881.198974694] [lifecycle_manager_navigation]: CRITICAL FAILURE: SERVER bt_navigator IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes.
[lifecycle_manager-16] [INFO] [1677608881.198994855] [lifecycle_manager_navigation]: Terminating bond timer...
[lifecycle_manager-16] [INFO] [1677608881.198999375] [lifecycle_manager_navigation]: Resetting managed nodes...
[lifecycle_manager-16] [INFO] [1677608881.199003463] [lifecycle_manager_navigation]: Deactivating velocity_smoother
[velocity_smoother-15] [INFO] [1677608881.199244084] [velocity_smoother]: Deactivating
[velocity_smoother-15] [INFO] [1677608881.199288283] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[lifecycle_manager-16] [INFO] [1677608881.310584027] [lifecycle_manager_navigation]: Deactivating waypoint_follower
[waypoint_follower-14] [INFO] [1677608881.310874224] [waypoint_follower]: Deactivating
[waypoint_follower-14] [INFO] [1677608881.310964174] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[lifecycle_manager-16] [INFO] [1677608881.422289915] [lifecycle_manager_navigation]: Deactivating bt_navigator
My branch contain very minimal changes that use this feature, see the diff here
Expected behavior
No crash
Actual behavior
crash