AMCL core dumps due to a race condition when used with the map server. #4537
Description
Bug report
Required Info:
- Operating System:
- fedora 40
- ROS2 Version: jazzy
- jazzy
- Version or commit hash: 1.3.1
- from source: no changes from the source.
- DDS implementation:
- cyclonedds
Steps to reproduce issue
In the core dump, you see that map_ can be a null pointer and therefore you get an unhandled null pointer exception.
Uncommenting those lines circumvented the crash for us:
diff --color -ur navigation2-release-release-jazzy-nav2_amcl-1.3.1-1/src/amcl_node.cpp navigation2-release-release-jazzy-nav2_amcl-1.3.1-1-new/src/amcl_node.cpp
--- navigation2-release-release-jazzy-nav2_amcl-1.3.1-1/src/amcl_node.cpp 2024-06-25 20:01:09.000000000 +0200
+++ navigation2-release-release-jazzy-nav2_amcl-1.3.1-1-new/src/amcl_node.cpp 2024-07-15 17:43:12.792477289 +0200
@@ -540,13 +540,13 @@
global_frame_id_.c_str());
return;
}
- if (abs(msg->pose.pose.position.x) > map_->size_x ||
- abs(msg->pose.pose.position.y) > map_->size_y)
- {
- RCLCPP_ERROR(
- get_logger(), "Received initialpose from message is out of the size of map. Rejecting.");
- return;
- }
+ // if (abs(msg->pose.pose.position.x) > map_->size_x ||
+ // abs(msg->pose.pose.position.y) > map_->size_y)
+ // {
+ // RCLCPP_ERROR(
+ // get_logger(), "Received initialpose from message is out of the size of map. Rejecting.");
+ // return;
+ // }
// Overriding last published pose to initial pose
last_published_pose_ = *msg;
There is a race condition between the receiving of the map topic subscriber and setting the initial pose. On our robot, this race condition almost always happens but could be hard to reproduce on other setups.
Expected behavior
AMCL localization at initial pose or at least not crashing.
Actual behavior
AMCL coredumps
Additional information
I have attached our core dump. For the core dump, I rebuilt only AMCL in Debug mode; everything else was built as ReleaseWithDebug.
core.amcl.1000.c11f12581e0949ccb1dcd9e3d30b45d0.13740.1721053490000000.tar.gz
We are using a custom map server that may experience a slight delay when starting up. Therefore, AMCL could be launched without a map.