[nav2_smoother] nullptr bug during smooth_plan() #4538
Description
Bug report
Required Info:
- Operating System:
- ubuntu 22.04
- ROS2 Version:
- humble
- Version or commit hash:
- the latest
- DDS implementation:
- the defaulted
Steps to reproduce issue
during my normal usage
#!/bin/bash
export ASAN_OPTIONS=halt_on_error=0:new_delete_type_mismatch=0:detect_leaks=0:log_pah=asan
source install/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=True use_rviz:=False use_composition:=False Expected behavior
no NullPtr bug occured.
Actual behavior
the Asan report of this NullPtr bug is as following:
=================================================================
==166818==ERROR: AddressSanitizer: SEGV on unknown address 0x000000000000 (pc 0x7187e491e19a bp 0x7187d75fc2d0 sp 0x7187d75f86a0 T13)
==166818==The signal is caused by a READ memory access.
==166818==Hint: address points to the zero page.
#0 0x7187e491e19a in nav2_smoother::SmootherServer::smoothPlan() (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x11e19a) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#1 0x7187e49f0a93 in nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::work() (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1f0a93) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#2 0x7187e49efe04 in std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()> >, void>::operator()() const (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1efe04) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#3 0x7187e49efb17 in std::enable_if<is_invocable_r_v<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter>, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()> >, void>&>, std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> >::type std::__invoke_r<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter>, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()> >, void>&>(std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()> >, void>&) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1efb17) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#4 0x7187e49ef958 in std::_Function_handler<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> (), std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()> >, void> >::_M_invoke(std::_Any_data const&) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1ef958) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#5 0x7187e5cf5b96 in std::__future_base::_State_baseV2::_M_do_set(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*) (/home/***/nav2_ws/install/nav2_util/lib/libnav2_util_core.so+0x7fb96) (BuildId: 1d6c0d5217ab4e048e9a7919e1f2eabd3bac7da1)
#6 0x7187e3e99ee7 in __pthread_once_slow nptl/./nptl/pthread_once.c:116:7
#7 0x7187e49ed521 in std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()> >, void>::_M_run() (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1ed521) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#8 0x7187e42dc252 (/lib/x86_64-linux-gnu/libstdc++.so.6+0xdc252) (BuildId: e37fe1a879783838de78cbc8c80621fa685d58a2)
#9 0x7187e3e94ac2 in start_thread nptl/./nptl/pthread_create.c:442:8
#10 0x7187e3f2684f misc/../sysdeps/unix/sysv/linux/x86_64/clone3.S:81
AddressSanitizer can not provide additional info.
SUMMARY: AddressSanitizer: SEGV (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x11e19a) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c) in nav2_smoother::SmootherServer::smoothPlan()
Thread T13 created by T12 here:
#0 0x5ce319b8a87c in __interceptor_pthread_create (/home/***/nav2_ws/install/nav2_smoother/lib/nav2_smoother/smoother_server+0x9387c) (BuildId: 5647db61db99952a548142c13b8b84d860f54c3b)
#1 0x7187e42dc328 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+0xdc328) (BuildId: e37fe1a879783838de78cbc8c80621fa685d58a2)
#2 0x7187e49ece82 in std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()> >, void>::_Async_state_impl<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()>(nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()&&) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1ece82) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#3 0x7187e49ec628 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()> >, void>, std::allocator<void>, nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()>(std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()> >, void>*&, std::_Sp_alloc_shared_tag<std::allocator<void> >, nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()&&) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1ec628) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#4 0x7187e49ea833 in std::future<std::__invoke_result<std::decay<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()>::type>::type> std::async<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()>(std::launch, nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >)::'lambda'()&&) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1ea833) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#5 0x7187e49d3359 in nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::handle_accepted(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1d3359) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#6 0x7187e49f5b27 in void std::__invoke_impl<void, void (nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::*&)(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >), nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>*&, std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> > >(std::__invoke_memfun_deref, void (nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::*&)(std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >), nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>*&, std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::SmoothPath> >&&) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1f5b27) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#7 0x7187e49daf36 in rclcpp_action::Server<nav2_msgs::action::SmoothPath>::call_goal_accepted_callback(std::shared_ptr<rcl_action_goal_handle_s>, std::array<unsigned char, 16ul>, std::shared_ptr<void>) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1daf36) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#8 0x7187e59f2246 in rclcpp_action::ServerBase::execute_goal_request_received(std::shared_ptr<void>&) (/opt/ros/humble/lib/librclcpp_action.so+0x13246) (BuildId: 4dfcc4cee7010878193255b3a622d5194654caa8)
Thread T12 created by T0 here:
#0 0x5ce319b8a87c in __interceptor_pthread_create (/home/***/nav2_ws/install/nav2_smoother/lib/nav2_smoother/smoother_server+0x9387c) (BuildId: 5647db61db99952a548142c13b8b84d860f54c3b)
#1 0x7187e42dc328 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+0xdc328) (BuildId: e37fe1a879783838de78cbc8c80621fa685d58a2)
#2 0x7187e49cc7d5 in nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>::SimpleActionServer<std::shared_ptr<nav2_util::LifecycleNode> >(std::shared_ptr<nav2_util::LifecycleNode>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void ()>, std::function<void ()>, std::chrono::duration<long, std::ratio<1l, 1000l> >, bool, rcl_action_server_options_s const&) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x1cc7d5) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#3 0x7187e491d488 in std::__detail::_MakeUniq<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath> >::__single_object std::make_unique<nav2_util::SimpleActionServer<nav2_msgs::action::SmoothPath>, std::shared_ptr<nav2_util::LifecycleNode>, char const (&) [12], std::_Bind<void (nav2_smoother::SmootherServer::* (nav2_smoother::SmootherServer*))()>, std::nullptr_t, std::chrono::duration<long, std::ratio<1l, 1000l> >, bool>(std::shared_ptr<nav2_util::LifecycleNode>&&, char const (&) [12], std::_Bind<void (nav2_smoother::SmootherServer::* (nav2_smoother::SmootherServer*))()>&&, std::nullptr_t&&, std::chrono::duration<long, std::ratio<1l, 1000l> >&&, bool&&) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x11d488) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#4 0x7187e4917f72 in nav2_smoother::SmootherServer::on_configure(rclcpp_lifecycle::State const&) (/home/***/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so+0x117f72) (BuildId: 80891eed01337a00457782ceae8a233ce28b113c)
#5 0x7187e57f38ec (/opt/ros/humble/lib/librclcpp_lifecycle.so+0x288ec) (BuildId: 97f6428dc1ee45fd402b522b3b8e6b4fcfeabe76)
==166818==ABORTING
Additional information
stable reproduction for the bug:
step 1. insert delay in smoothPlan() as following:
void SmootherServer::smoothPlan()
{
auto start_time = this->now();
RCLCPP_INFO(get_logger(), "Received a path to smooth.");
auto result = std::make_shared<Action::Result>();
try {
std::string c_name = action_server_->get_current_goal()->smoother_id;
std::string current_smoother;
if (findSmootherId(c_name, current_smoother)) {
current_smoother_ = current_smoother;
} else {
action_server_->terminate_current();
return;
}
// insert
{
RCLCPP_INFO(get_logger(), " smoothPlan() start------------------------------------------------" );
std::this_thread::sleep_for(std::chrono::seconds(3));
RCLCPP_INFO(get_logger(), " smoothPlan() still working------------------------------------------------" );
//
// Perform smoothing
auto goal = action_server_->get_current_goal();
result->path = goal->path;
result->was_completed = smoothers_[current_smoother_]->smooth(
result->path, goal->max_smoothing_duration);
result->smoothing_duration = this->now() - start_time;
if (!result->was_completed) {
RCLCPP_INFO(
get_logger(),
"Smoother %s did not complete smoothing in specified time limit"
"(%lf seconds) and was interrupted after %lf seconds",
current_smoother_.c_str(),
rclcpp::Duration(goal->max_smoothing_duration).seconds(),
rclcpp::Duration(result->smoothing_duration).seconds());
}
plan_publisher_->publish(result->path);
}step 2. launch and send the goal:
ros2 action send_goal /smooth_path nav2_msgs/action/SmoothPath "
check_for_collisions: true
max_smoothing_duration:
nanosec: 66586634
sec: 2818050
path:
header:
frame_id: map
poses:
- header:
frame_id: map
stamp:
nanosec: 18186267
sec: 1711025911
pose:
orientation:
w: 0.714039336254295
x: 0.0
y: 0.000000
z: 0.7001055822385119
position:
x: -1.4124970436096191
y: 0.7968802452087402
z: 0.0
- header:
frame_id: map
stamp:
nanosec: 986243672
sec: -837341456
pose:
orientation:
w: 0.7725104999765416
x: 0.0
y: 0.0
z: -0.6350019900960892
position:
x: 1.6625025272369385
y: 0.6656188368797302
z: 0.0
- header:
frame_id: map
stamp:
nanosec: 690214053
sec: 1711026163
pose:
orientation:
w: 0.5592876984531523
x: 0.0
y: 0.0
z: -0.8289736246461499
position:
x: 0.6187454462051392
y: -1.2281272411346436
z: 0.0
smoother_id: simple_smoother" step 3. Then Ctrl+C to let the nav2_smoother automatically execute deactivate() -> cleanup(), and then ASAN will appear.